Joining method and device of surgical instrument, joining judgment method and device and medical system

Abstract

The invention relates to a surgical instrument joint method and device, a joint judgment method and device and a medical system. The surgical instrument comprises a driving mechanism, a shaft connected to the far end of the driving mechanism and an end effector connected to the far end of the shaft, the driving mechanism comprises a first rotary disc driving the end effector to move and a second rotary disc driving the shaft to rotate, and the first rotary disc and the second rotary disc are driven by an instrument driver to rotate. The joint method of the surgical instrument comprises the steps that the first rotating disc and the instrument driver are jointed; and driving the first carousel to move the end effector to apply a rotational resistance torque to the shaft, the second carousel engaged with the instrument driver in response to the rotational resistance torque. According to the connecting method of the surgical instrument, the instrument driver and the surgical instrument are connected through the rotating resistance torque generated by movement of the end effector on the shaft, an additional rotating disc does not need to be arranged, the structure of the surgical instrument is simplified, the number of parts is reduced, and then the manufacturing cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of surgical instruments applied to surgical robots, and particularly to a method for joining surgical instruments, a method for judging joining, a device and a medical system. Background Art

[0002] Surgical instruments include an end effector and a shaft. Among them, the end effector can be a surgical clamp head, scissors, a grasping forceps, etc. During use, the surgical instrument is installed on an instrument driver at one end of the robotic arm of the surgical robot. The instrument driver drives the end effector through a drive wire or a push drive rod arranged in the shaft to realize the surgical operation of the surgical instrument. The surgical instrument is joined to the instrument driver through its turntable to achieve power transmission. To ensure the accuracy and precision of the drive of the surgical instrument, it is a prerequisite that the turntable of the surgical instrument is completely joined to the instrument driver.

[0003] In a related surgical instrument, in order to join the surgical instrument and the instrument driver, the instrument rod is meshed with two turntables simultaneously through gear transmission. When the instrument rod rotates, the two turntables rotate in the same direction. During the joining process, the two instrument drivers rotate in opposite directions to join the two turntables. In addition, when the two turntables are joined, if the set speed ratio of the two instrument drivers is different from the speed ratio of the two turntables, a large torque can be detected on the instrument driver, and thus the joining of the turntable of the surgical instrument is judged.

[0004] However, in the above scenario, in the method of joining the surgical instrument by setting two rotating disks, in addition to the turntable that drives the instrument rod to rotate, at least one additional turntable needs to be set, which increases the production cost and product complexity. Summary of the Invention

[0005] The present application provides a method for joining a surgical instrument to join the surgical instrument without increasing the structural complexity of the surgical instrument.

[0006] The present application provides a method for joining a surgical instrument. The surgical instrument includes a driving mechanism, a shaft connected to the distal end of the driving mechanism, and an end effector connected to the distal end of the shaft. The driving mechanism includes a first turntable for driving the end effector to move and a second turntable for driving the shaft to rotate. The first turntable and the second turntable are driven to rotate by an instrument driver. The method for joining the surgical instrument includes:

[0007] Joining the first turntable to the instrument driver; and

[0008] Driving the first turntable to make the end effector move to apply a rotational resistance moment to the shaft. In response to the rotational resistance moment, the second turntable is joined to the instrument driver.

[0009] Further, driving the first turntable to move the end effector to apply a rotational resistance moment to the shaft includes: the end effector moves to generate a resistance moment with an external feature to apply a rotational resistance moment to the shaft; or the end effector moves to generate the rotational resistance to the shaft inside the driving mechanism.

[0010] Further, driving the first turntable to move the end effector to apply a rotational resistance moment to the shaft includes: driving the first turntable to make the end effector abut against the sleeve to generate a resistance moment.

[0011] Further, driving the first turntable to make the end effector abut against the sleeve to generate a resistance moment includes:

[0012] Driving the first turntable to rotate a preset angle to make the end effector abut against the sleeve;

[0013] The instrument driver further includes a driving member for engaging the second turntable, and the maximum output torque of the driving member is less than the frictional torque received by the second turntable when the first turntable rotates to the preset angle.

[0014] Further, driving the first turntable to move the end effector to apply a rotational resistance moment to the shaft includes: driving the first turntable to close the end effector to generate a preset clamping force, and when the end effector generates the preset clamping force, the driving mechanism applies a resistance moment toward the proximal end to the shaft.

[0015] Further, the driving mechanism includes:

[0016] A base;

[0017] A first transmission component, the first transmission component is arranged on the base, and the first turntable drives the first transmission component to rotate;

[0018] A lever member, a first end of the lever member is connected to the first transmission component to rise and fall following the rotation of the first transmission component, a second end of the lever member opposite to the first end is connected to the shaft, and a non-end portion of the lever member is pivotally connected to the base to form a fulcrum;

[0019] Wherein, when the first end of the lever member rises, the end effector tends to open;

[0020] When the first end of the lever member descends, the end effector tends to clamp;

[0021] The resistance moment applied by the driving mechanism to the shaft towards the proximal end is: when the first turntable rotates by a preset angle, the frictional moment generated by the lever member on the shaft;

[0022] The instrument driver further includes a driving member for engaging the second turntable, and the maximum output torque of the driving member is less than the frictional moment received by the second turntable when the first turntable rotates to the preset angle.

[0023] Further, the instrument driver further includes a driving member for engaging the second turntable, and the maximum output torque of the driving member is less than the frictional moment received by the second turntable under the rotational resistance moment.

[0024] In response to the rotational resistance moment, the engagement of the second turntable with the instrument driver includes:

[0025] In response to the rotational resistance moment, the second turntable stops rotating, and the instrument driver rotates to engage with the second turntable.

[0026] Further, the instrument driver further includes a driving member for engaging the second turntable, and the engagement method of the surgical instrument further includes: judging whether the second turntable is engaged with the instrument driver according to the rotational states of the driving member and the second turntable. Wherein, when the driving member is driven, when both the driving member and the second turntable stop rotating, it is judged that the second turntable is successfully engaged with the instrument driver.

[0027] Further, when the driving member is driven, when the driving member rotates and the second turntable stops rotating, it is judged that the second turntable is not yet successfully engaged with the instrument driver.

[0028] Further, the rotatable angle of the first turntable is less than the rotatable angle of the second turntable.

[0029] Engaging the first turntable with the instrument driver includes: the first turntable stops after rotating through the rotatable angle and engages with the instrument driver.

[0030] The present application provides a method for judging the engagement of a surgical instrument. The surgical instrument includes a driving mechanism, a shaft connected to the distal end of the driving mechanism, and an end effector connected to the distal end of the shaft. The driving mechanism includes a first turntable for driving the end effector to move and a second turntable for driving the shaft to rotate. The first turntable and the second turntable are driven to rotate by an instrument driver. The method for judging the engagement of the surgical instrument includes:

[0031] Engaging the first turntable with the instrument driver, and the instrument driver further includes a driving member for engaging the second turntable;

[0032] Drive the first turntable to move the end effector to apply a rotational resistance moment to the shaft, and in response to the rotational resistance moment, the second turntable engages with the instrument driver; and

[0033] Judge whether the second turntable engages with the instrument driver according to the rotational states of the driving member and the second turntable. Wherein, when the driving member is driven, when both the driving member and the second turntable stop rotating, it is judged that the second turntable engages successfully with the instrument driver.

[0034] Further, when the driving member is driven, when the driving member rotates and the second turntable stops rotating, it is judged that the second turntable has not engaged successfully with the instrument driver.

[0035] The present application provides an engagement device for a surgical instrument. The surgical instrument includes a drive mechanism, a shaft connected to the distal end of the drive mechanism, and an end effector connected to the distal end of the shaft. The drive mechanism includes an instrument driver, a first turntable for driving the end effector to move, and a second turntable for driving the shaft to rotate. The first turntable and the second turntable are driven to rotate by the instrument driver. The engagement device for the surgical instrument includes:

[0036] An engagement module for engaging the first turntable with the instrument driver;

[0037] A drive module for driving the first turntable to move the end effector to apply a rotational resistance moment to the shaft, and in response to the rotational resistance moment, the second turntable engages with the instrument driver.

[0038] The present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the engagement method or the engagement judgment method of the surgical instrument described in the foregoing embodiments.

[0039] The present application provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the engagement method or the engagement judgment method of the surgical instrument described in the foregoing embodiments.

[0040] The present application further provides a medical system including a surgical instrument and the electronic device described in the foregoing embodiments; the electronic device is used to engage the surgical instrument and the instrument driver or judge whether the surgical instrument and the instrument driver are engaged successfully.

[0041] According to the method for engaging a surgical instrument of the present application, by using the rotational resistance moment generated by the movement of the end effector on the shaft, the instrument driver is engaged with the surgical instrument without the need to provide an additional turntable, which is beneficial to simplifying the structure of the surgical instrument, reducing the number of parts, and thus reducing the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0043] Figure 1 Schematic diagram of a medical system provided by an embodiment of the present application;

[0044] Figure 2 Simplified schematic diagram of a surgical instrument and a drive mechanism in engagement provided by an embodiment of the present application;

[0045] Figure 3 Simplified schematic diagram of a surgical instrument and a drive mechanism provided by another embodiment of the present application;

[0046] Figure 4 Flowchart of a method for engaging a surgical instrument provided by an embodiment of the present application;

[0047] Figure 5 Graph of the rotational resistance moment of the shaft of the present application varying with the rotation angle of the first turntable;

[0048] Figure 6 Module schematic diagram of an engaging device for a surgical instrument provided by an embodiment of the present application;

[0049] Figure 7 Flowchart of a method for judging the engagement of a surgical instrument provided by an embodiment of the present application;

[0050] Figure 8 Module schematic diagram of a judging device for the engagement of a surgical instrument provided by an embodiment of the present application;

[0051] Figure 9 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The methods described in the following exemplary embodiments do not represent all the ways consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0053] The terms used in the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present application pertains. The terms "first", "second", and similar terms used in the specification and claims of the present application do not denote any order, quantity, or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a quantity limitation, but rather indicate the presence of at least one, and will be further specified separately if only referring to "one". "Plurality" or "several" means two or more. Unless otherwise indicated, terms such as "front", "rear", "lower", and / or "upper" are for convenience of description only and are not limited to a position or a spatial orientation. Terms such as "comprising" or "including" mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalents, and do not exclude other elements or items. Terms such as "connected" or "coupled" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms "a", "the", and "said" used in the specification and appended claims of the present application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0054] The present application provides a method for joining surgical instruments to solve the problem of requiring an additional turntable or other auxiliary joining structures for joining surgical instruments. The method for joining surgical instruments is used in a medical system, specifically, for joining surgical instruments to a surgical robot.

[0055] As Figure 1 shown, the medical system 100 of the present application is a robotic system that can perform surgery remotely, and includes a doctor console 110, a patient-side robotic arm system 120, and an imaging system 130.

[0056] The doctor's console 110 is equipped with a display unit for presenting the surgical instrument environment and a doctor operation control mechanism. An observation window is provided on the display unit for the doctor to observe. The actions of the operation control mechanism correspond to the actions of the surgical instruments. In addition, the doctor's console 110 also has other control switches that are convenient for the hands or feet to touch or press, used for various functional operations to complete the human-machine interaction.

[0057] The patient-side robotic arm system 120 includes a base and a plurality of robotic arms rotatably arranged on the base. The robotic arms have a plurality of connecting arms. Two adjacent connecting arms are relatively movable with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement. An instrument driver 4 is provided at the end of the robotic arm. The surgical instrument is detachably mounted on the instrument driver 4.

[0058] The imaging system 130 has a display screen, an endoscope controller, system electronics, an image processor, etc.

[0059] Reference Figure 2 and Figure 3 The surgical instrument includes a drive mechanism 3, a shaft 1 connected to the distal end of the drive mechanism 3, and an end effector 2 connected to the distal end of the shaft 1. The drive mechanism 3 includes a housing and a drive assembly provided inside the housing. The drive assembly includes a first turntable 31 for driving the end effector 2 to move and a second turntable 32 for driving the shaft 1 to rotate.

[0060] The instrument driver 4 provided on the robotic arm of the patient-side robotic arm system 120 includes two driving members 41. Optionally, the two driving members 41 are two rotary motors. The first turntable 31 and the second turntable 32 are respectively engaged with the two rotary motors and driven by the corresponding rotary motors to rotate, so that the surgical instrument can be driven by the patient-side robotic arm system 120. Optionally, the surgical instrument is connected to the instrument driver 4 through a sterile adapter 5. The sterile adapter 5 includes two driven disks 51. The two driven disks 51 are respectively engaged with the two rotary motors. The first turntable 31 and the second turntable 32 are engaged with the two driven disks 51. The rotation of the two driving members 41 of the instrument driver 4 drives the rotation of the two driven disks 51 of the sterile adapter 5, and further drives the rotation of the first turntable 31 and the second turntable 32 of the surgical instrument to realize the movement of the end effector 2 and the rotation of the shaft.

[0061] The movement of the end effector 2 driven by the first turntable 31 can be the opening and closing, pitching or yawing movement of the end effector 2. The end effector 2 can be wire-driven or rod-driven.

[0062] Such as Figure 2As shown, the wire drive method can be: the end effector 2 is connected to the pulley 8, one end of the drive wire is wound around the pulley 8, and the other end is wound around the winch 7 driven by the first turntable 31. By retracting and releasing the drive wire, the movement of the pulley 8 is driven to control the movement of the end effector 2.

[0063] As Figure 3 shown, the rod drive method can be: the drive mechanism 3 further includes a base 33, a first transmission component 34, and a lever member 35. The first transmission component 34 is disposed on the base 33. Specifically, it includes a trapezoidal screw. The first turntable 31 drives the first transmission component 34 to rotate. The first end 351 of the lever member 35 is connected to the first transmission component 34 to move up and down following the rotation of the first transmission component 34. The second end 352 of the lever member 35 opposite to the first end 351 is connected to the shaft 1 through the rod 21. The non-end portion of the lever member 35 is pivotally connected to the base 33 to form a fulcrum. When the first end 351 of the lever member 35 rises, the second end 352 presses down, thereby driving the rod 21 to move down and making the end effector 2 tend to open. When the first end 351 of the lever member 35 descends, the second end 352 rises, driving the rod 21 to rise and making the end effector 2 tend to clamp. Thus, the first turntable 31 can drive the movement of the end effector 2 by driving the rotation of the first transmission component 34. The second turntable 32 drives the shaft 1 to rotate by meshing with the gear disposed at the proximal end of the shaft 1. The rotation of the shaft 1 drives the rotation of the rod 21, thereby driving the rod 21 and the end effector 2 to rotate. For the surgical instrument with the rod drive method, reference can be made to the Chinese patent application CN116999169A, and the specific description is omitted here.

[0064] During the operation, the end effector 2 of the surgical instrument passes through tissues such as the chest and abdominal wall to perform the operation instead of the doctor's hand. For ease of explanation, Figure 2 and Figure 3 only one movable clamp is shown, and the other clamp that can open and close the end effector 2 is omitted. The other clamp can be a non-movable clamp or a movable clamp.

[0065] Before the surgical instrument is used, it needs to be engaged with the instrument driver 4 to achieve power transmission. To ensure the accuracy of the surgical instrument drive, the relative rotation directions of the first turntable 31, the second turntable 32 and the instrument driver 4 need to be uniquely determined. Therefore, the first turntable 31 and the second turntable 32 can be engaged with the driven disk 51 of the sterile adapter 5 through a concave-convex structure.

[0066] For Figure 2Taking the illustrated embodiment as an example, a convex portion 52 is provided on the driven disk 51 of the sterile adapter 5. The convex portion 52 is respectively embedded in the first turntable 31 and the second turntable 32, so that the instrument driver 4 can drive the rotation of the first turntable 31 and the second turntable 32 through the driven disk 51 of the sterile adapter 5. When the surgical instrument is installed on the instrument driver 4, it is difficult to embed the convex portion 52 into the first turntable 31 and the second turntable 32 by naked eye and manual operation. However, under the action of friction, even if the convex portion 52 is not embedded in the first turntable 31 and the second turntable 32, the instrument driver 4 can drive the first turntable 31 and the second turntable 32 to rotate. But in this case, the relative rotation directions between the first turntable 31 and the instrument driver 4 and between the second turntable 32 and the instrument driver 4 are not unique and uncertain, and there is relative movement, which affects the control accuracy and accuracy of the end effector 2.

[0067] And the joining method of the surgical instrument provided by the present application can realize the joining of the surgical instrument. As Figure 4 shown, a joining method of a surgical instrument according to an embodiment of the present application includes:

[0068] Step S100: Join the first turntable 31 and the instrument driver 4.

[0069] In step S100, the sterile adapter 5 can be first installed on the instrument driver 4. For example, the instrument driver transmission member 130 and the adapter transmission member 230 described in Chinese Patent Application CN113349937A can be used to quickly install the sterile adapter 5 on the instrument driver 4. Then, the surgical instrument is placed on the sterile adapter 5 to join the turntables. During the joining process of the turntables, the first turntable 31 and the instrument driver 4 are more likely to be joined first. The reason is that the first turntable 31 is used to drive the movement of the end effector 2, and the movement of the end effector 2 has a stroke limit. In other words, the rotation angle of the first turntable 31 is limited. When the surgical instrument is just placed on the sterile adapter 5, if the groove of the first turntable 31 is not successfully aligned with the convex portion 52 of the sterile adapter, there is friction between the first turntable 31 and the sterile adapter 5. Under the action of this friction, the instrument driver 4 rotates to drive the first turntable 31 to rotate. After a certain time, when the first turntable 31 rotates to the limit angle, the first turntable 31 will stop rotating, while the instrument driver 4 and the sterile adapter 5 continue to rotate, and relative movement occurs between the first turntable 31 and the sterile adapter 5. After the instrument driver 4 and the sterile adapter 5 rotate through a certain angle, the convex portion 52 of the sterile adapter 5 will be embedded in the groove of the first turntable 31, thereby realizing the joining of the first turntable 31, the sterile adapter 5 and the instrument driver 4.

[0070] Step S101: Drive the first turntable 31 to move the end effector 2 to apply a rotational resistance moment to the shaft 1. In response to the rotational resistance moment, the second turntable 32 engages with the instrument driver 4.

[0071] The second turntable 32 drives the shaft 1 to rotate, and the rotation angle of the shaft 1 is not restricted. Therefore, the second turntable 32 can rotate without limit to meet certain special surgical requirements. When the surgical instrument is just placed on the sterile adapter 5, if the groove of the second turntable 32 is not successfully aligned with the convex part 52 of the sterile adapter, there is a frictional force between the second turntable 32 and the sterile adapter 5. Under the action of this frictional force, the instrument driver 4 rotates to drive the second turntable 32 to rotate. Since the second turntable 32 can rotate without limit along with the instrument driver 4 and the sterile adapter 5, it is difficult for the instrument driver 4 and the sterile adapter 5 to engage with the second turntable 32.

[0072] At this time, drive the first turntable 31 to move the end effector 2 to apply a rotational resistance moment to the shaft 1. The rotational resistance received by the shaft 1 is transmitted to the second turntable 32, reducing the rotation speed of the second turntable 32 or stopping the second turntable 32. As the instrument driver 4 and the sterile adapter 5 rotate, a rotational speed difference is generated between the second turntable 32 and the instrument driver 4. After a period of time, the convex part 52 of the sterile adapter 5 will be embedded in the groove of the second turntable 32, thus realizing the engagement of the second turntable 32 with the sterile adapter 5 and the instrument driver 4.

[0073] According to the engagement method of the surgical instrument of the present application, by using the rotational resistance moment generated by the movement of the end effector 2 on the shaft 1, the instrument driver 4 is engaged with the surgical instrument, without the need to set an additional turntable, which is beneficial to simplifying the structure of the surgical instrument, reducing the number of parts, and thus reducing the manufacturing cost.

[0074] In an embodiment, the rotatable angle of the first turntable 31 is smaller than the rotatable angle of the second turntable 32. Engaging the first turntable 31 with the instrument driver 4 includes: the first turntable 31 stops after rotating through the rotatable angle and engages with the instrument driver 4. The second turntable 32 drives the shaft 1 to rotate, and actually the rotation angle range is greater than 360°, and further, greater than 720°.

[0075] In some embodiments, driving the first turntable 31 to move the end effector 2 to apply a rotational resistance moment to the shaft 1 includes: the end effector 2 moves to generate a resistance moment with an external feature to apply a rotational resistance moment to the shaft 1.

[0076] Please refer to Figure 2, in some embodiments, the external feature may be the sleeve 6. The sleeve 6 is used to sleeve the surgical instrument during surgery to prevent the surgical instrument from being contaminated. Of course, the external feature may also be other components independent of the surgical instrument. Specifically, the first turntable 31 is driven to make the end effector 2 abut against the inner wall of the sleeve 6 to generate a resistance torque. In this step, at least a part of the shaft 1 and the end effector 2 are arranged inside the sleeve 6, and the first turntable 31 drives the end effector 2 through a drive wire or a drive rod. When the first turntable 31 drives the end effector 2 to open to a certain angle, the end effector 2 abuts against the inner wall of the sleeve 6 to generate a frictional torque, and this frictional torque provides the rotational resistance torque of the shaft 1.

[0077] Further, in this embodiment, driving the first turntable 31 to make the end effector 2 abut against the sleeve to generate a resistance torque may include:

[0078] Driving the first turntable 31 to rotate a preset angle to make the end effector 2 abut against the sleeve 6;

[0079] The maximum output torque of the part of the instrument driver 4 for engaging the second turntable 32 is less than the frictional torque received by the second turntable 32 when the first turntable 31 rotates to the preset angle.

[0080] The end effector 2 abuts against the sleeve 6 and generates a frictional force with the sleeve 6. For the second turntable 32 to drive the shaft 1 to rotate, it needs to overcome the rotational resistance torque provided by this frictional torque. In this embodiment, when the first turntable 31 rotates the preset angle, the frictional torque received by the second turntable 32 is greater than the maximum output torque that the driving part can output.

[0081] Such as Figure 5As shown, the abscissa represents the rotation angle θ of the first turntable 31, and the ordinate represents the rotational resistance torque received by the second turntable 32, which is also the frictional torque T that the second turntable 32 needs to overcome. When the rotation angle of the first turntable 31 is less than θ1, at this time, the end effector 2 does not contact the sleeve 6 in the sleeve 6, and the frictional torque T of the second turntable 32 is very small. When the rotation angle of the first turntable 31 is equal to or greater than θ1, since the end effector 2 contacts the inner wall of the sleeve 6 and generates pressure, the rotation of the shaft 1 is blocked, and the frictional torque T of the second turntable 32 increases. When the rotation angle of the first turntable 31 increases to θ2, the corresponding frictional torque of the second turntable 32 is T2. If T1 less than T2 is used as the maximum output torque of the driving member 41 of the instrument driver 4 for driving the second turntable 32, when the sterile adapter 5 is engaged with the first turntable 31 and the first turntable 31 is rotated to the rotation angle θ2, the output torque T1 output by the instrument driver 4 cannot drive the second turntable 32 to overcome the frictional torque T2. At this time, the second turntable 32 stops rotating. The second turntable 32 and the sterile adapter 5 move relative to each other. After the instrument driver 4 and the sterile adapter 5 rotate through a certain angle, the convex portion 52 of the sterile adapter 5 will be embedded in the groove of the second turntable 32, so as to realize the engagement of the second turntable 32 and the sterile adapter 5 with the instrument driver 4. In this embodiment, the preset angle of the first turntable 31 is the rotation angle θ2.

[0082] The frictional torque T can be measured by a sensor. And since the frictional torque T and the current are almost positively correlated, therefore, in fact, the frictional torque T can also be defined by the current. The maximum output torque T1 of the instrument driver 4 can also be controlled by controlling the magnitude of the driving current value of the driving member 41 of the instrument driver 4 for driving the second turntable 32.

[0083] In another embodiment, driving the first turntable 31 to move the end effector 2 and applying a rotational resistance torque to the shaft 1 includes: the end effector 2 moves to generate a rotational resistance to the shaft 1 inside the drive mechanism 3. In this embodiment, the end effector 2 does not directly generate frictional force with external features, but controls the movement of the end effector 2 to generate a rotational resistance to the shaft 1 inside the drive mechanism 3, so as to engage the second turntable 32 with the instrument driver 4 and the sterile adapter 5. The end effector 2 not generating frictional force with external features is beneficial to protecting the end effector 2.

[0084] In one embodiment, driving the first turntable 31 to move the end effector 2 and applying a rotational resistance torque to the shaft 1 includes: driving the first turntable 31 to close the end effector 2 and generate a preset clamping force. When the end effector 2 generates a preset clamping force, the drive mechanism 3 applies a resistance torque towards the proximal end to the shaft 1. As Figure 3As shown, the second end 352 of the lever member 35 cooperates with the rod 21, and the opening and closing of the end effector 2 is achieved through the lifting rod 21. When the end effector 2 is closed and a preset clamping force is generated, it is difficult for the second end 352 to continue pressing down further, but it is subjected to a relatively large downward pressure. At this time, the second end 352 of the lever member 35 abuts against the card slot 22 of the rod 21 to generate a frictional force. This frictional force exerts a resistance moment on the rotation of the rod 21, and further exerts a resistance moment on the shaft 1 that drives the rotation of the rod 21. At this time, when this resistance moment is large enough, the second turntable 32 stops rotating. Relative movement occurs between the second turntable 32 and the sterile adapter 5. After the instrument driver 4 and the sterile adapter 5 rotate through a certain angle, the convex portion 52 of the sterile adapter 5 will be inserted into the groove of the second turntable 32, thereby realizing the engagement of the second turntable 32 and the sterile adapter 5 with the instrument driver 4.

[0085] Further, in this embodiment, the resistance moment applied by the drive mechanism 3 to the shaft 1 toward the proximal end is: when the first turntable 31 rotates a preset angle, the frictional moment generated by the lever member 35 on the shaft 1. The maximum output torque of the drive member 41 of the instrument driver 4 for engaging the second turntable 32 is less than the frictional moment received by the second turntable 32 when the first turntable 31 rotates to the preset angle.

[0086] Refer again to Figure 5 , the rotation of the first turntable 31 drives the first transmission assembly 34 to rotate a preset angle θ2, so that the first end 351 of the lever member 35 rises. Under the action of the fulcrum, the second end 352 of the lever member 35 descends to rub against the card slot 22 and generates a resistance moment that hinders the rotation of the rod 21, and further exerts a frictional moment T2 on the shaft 1 that drives the rotation of the rod 21. Since the second turntable 32 drives the shaft 1 to rotate, the second turntable 32 needs to overcome this frictional moment T2 to drive the shaft 1 to rotate. The drive member 41 outputs power to the second turntable 32. When the maximum output torque T1 of the drive member 41 is less than the frictional moment T2, the second turntable 32 stops rotating. Relative movement occurs between the second turntable 32 and the sterile adapter 5. After the instrument driver 4 and the sterile adapter 5 rotate through a certain angle, the convex portion 52 of the sterile adapter 5 will be inserted into the groove of the second turntable 32, thereby realizing the engagement of the second turntable 32 and the sterile adapter 5 with the instrument driver 4.

[0087] Further, in this embodiment, in response to the rotational resistance moment, the engagement of the second turntable 32 with the instrument driver 4 may include: in response to the rotational resistance moment, the second turntable 32 stops rotating, and the instrument driver 4 rotates to engage with the second turntable 32. It can be understood that only a rotational speed difference needs to exist between the second turntable 32 and the instrument driver 4 to achieve engagement.

[0088] In one embodiment, the method for engaging a surgical instrument further includes: determining whether the second turntable 32 is engaged with the instrument driver 4 according to the rotation states of the driving member 41 and the turntable. Among them, when the driving member 41 is driven, when both the driving member 41 and the second turntable 32 stop rotating, it is determined that the second turntable 32 is successfully engaged with the instrument driver 4. The driving member 41 being driven means that at this time, the driving member 41 is in a state capable of outputting torque and having a tendency to rotate. In this state, if the power output by the driving member 41 is not sufficient to drive the second turntable 32 to rotate, then the driving member 41 will rotate relative to the second turntable 32. After the driving member 41 is engaged with the second turntable 32, the driving member 41 and the second turntable 32 should rotate synchronously. And since the second turntable 32 cannot rotate in response to the rotational resistance torque, the driving member 41 also cannot overcome the rotational resistance torque to rotate. At this time, it can be determined that the second turntable 32 is successfully engaged with the instrument driver 4.

[0089] Further, when the driving member 41 is driven, when the driving member 41 rotates and the second turntable 32 stops rotating, it is determined that the second turntable 32 is not yet successfully engaged with the instrument driver 4. The second turntable 32 stops and the driving member 41 rotates, which means that there is a relative rotational angular displacement between the driving member 41 and the second turntable 32 at this time. After the driving member 41 and the second turntable 32 are engaged, the driving member 41 and the second turntable 32 rotate synchronously and there is no relative rotational angular displacement. Therefore, the engagement state of the second turntable 32 with the instrument driver 4 can be determined by the rotation states of the driving member 41 and the second turntable 32.

[0090] Reference Figure 6 , based on the above various embodiments, the present application further provides an engaging device for a surgical instrument, including:

[0091] An engaging module 200 that engages the first turntable 31 with the instrument driver 4;

[0092] A driving module 201 that drives the first turntable 31 to move the end effector 2 to apply a rotational resistance torque to the shaft 1, and in response to the rotational resistance torque, the second turntable 32 is engaged with the instrument driver 4.

[0093] Optionally, the driving module 201 drives the first turntable 31 to move the end effector 2 to apply a rotational resistance torque to the shaft 1, including: the end effector 2 moves to generate a resistance torque with an external feature to apply a rotational resistance torque to the shaft 1, or the end effector 2 moves to generate a rotational resistance to the shaft 1 inside the drive mechanism 3.

[0094] Optionally, the driving module 201 drives the first turntable 31 to move the end effector 2 to apply a rotational resistance torque to the shaft 1, including: driving the first turntable 31 to make the end effector 2 abut against the sleeve to generate a resistance torque.

[0095] Optionally, the driving module 201 driving the first turntable 31 to make the end effector 2 abut against the sleeve to generate a resistance moment includes: driving the first turntable 31 to rotate a preset angle to make the end effector 2 abut against the sleeve; the instrument driver 4 further includes a driving member 41 for engaging the second turntable 32, and the maximum output torque of the driving member 41 is less than the frictional torque received by the second turntable 32 when the first turntable 31 rotates to the preset angle.

[0096] Optionally, the driving module 201 driving the first turntable 31 to move the end effector 2 to apply a rotational resistance moment to the shaft 1 includes: driving the first turntable 31 to close the end effector 2 and generate a preset clamping force, and when the end effector 2 generates the preset clamping force, the driving mechanism 3 applies a resistance moment towards the proximal end to the shaft 1.

[0097] Optionally, the resistance moment towards the proximal end applied by the driving module 201 driving mechanism 3 to the shaft 1 is: when the first turntable 31 rotates a preset angle, the frictional torque generated by the lever member 35 on the shaft 1; the maximum output torque of the driving member 41 of the instrument driver 4 for engaging the second turntable 32 is less than the frictional torque received by the second turntable 32 when the first turntable 31 rotates to the preset angle.

[0098] Optionally, the maximum output torque of the driving member 41 of the instrument driver 4 for engaging the second turntable 32 is less than the frictional torque received by the second turntable 32 under the rotational resistance moment. The driving module 201 responds to the rotational resistance moment, and the engagement of the second turntable 32 with the instrument driver 4 includes: in response to the rotational resistance moment, the second turntable 32 stops rotating, and the instrument driver 4 rotates to engage with the second turntable 32.

[0099] Optionally, the engaging device of the surgical instrument further includes a judgment module. The judgment module judges whether the second turntable 32 is engaged with the instrument driver 4 according to the rotational states of the driving disk and the turntable. Among them, when the driving member 41 is driven, when both the driving member 41 and the second turntable 32 stop rotating, it is judged that the second turntable 32 is successfully engaged with the instrument driver 4.

[0100] Optionally, when the driving member 41 is driven, the judgment module judges that the second turntable 32 is not successfully engaged with the instrument driver 4 when the driving member 41 rotates and the second turntable 32 stops rotating.

[0101] Optionally, the rotatable angle of the first turntable 31 is less than the rotatable angle of the second turntable 32. The engaging module 200 engaging the first turntable 31 with the instrument driver 4 includes: the first turntable 31 stops after rotating through the rotatable angle and engages with the instrument driver 4.

[0102] The present application also provides a method for judging the engagement of a surgical instrument, which can judge the engagement state of the instrument driver and the surgical instrument described in any of the foregoing embodiments without an additional detection and judgment structure, simplifies the design of the surgical instrument and the instrument driver 4, reduces the number of parts, and thus reduces the cost.

[0103] As Figure 7 shown, the method for judging the engagement of a surgical instrument according to an embodiment of the present application includes:

[0104] Step S300: Engage the first turntable 31 with the instrument driver 4, and the instrument driver 4 further includes a driving member 41 for engaging the second turntable 32.

[0105] In step S300, the sterile adapter 5 can be first installed on the instrument driver 4. For example, the instrument driver transmission member 130 and the adapter transmission member 230 described in Chinese Patent Application CN113349937A can be used to quickly install the sterile adapter 5 on the instrument driver 4. Then, the surgical instrument is placed on the sterile adapter 5 to perform the engagement of the turntables. During the engagement of the turntables, there is a high probability that the first turntable 31 will be engaged with the instrument driver 4 first. The reason is that the first turntable 31 is used to drive the movement of the end effector 2, and the movement of the end effector 2 has a stroke limit. In other words, the rotation angle of the first turntable 31 is limited. When the surgical instrument is just placed on the sterile adapter 5, if the groove of the first turntable 31 is not exactly aligned with the convex part 52 of the sterile adapter, there is a frictional force between the first turntable 31 and the sterile adapter 5. Under the action of this frictional force, the instrument driver 4 rotates, driving the first turntable 31 to rotate. After a certain time, when the first turntable 31 rotates to the limit angle, the first turntable 31 will stop rotating, while the instrument driver 4 and the sterile adapter 5 continue to rotate, and a relative movement occurs between the first turntable 31 and the sterile adapter 5. After the instrument driver 4 and the sterile adapter 5 rotate through a certain angle, the convex part 52 of the sterile adapter 5 will be embedded in the groove of the first turntable 31, thereby realizing the engagement of the first turntable 31 with the sterile adapter 5 and the instrument driver 4.

[0106] Step S301: Drive the first turntable 31 to move the end effector 2 to apply a rotational resistance moment to the shaft 1, and in response to the rotational resistance moment, the second turntable 32 is engaged with the instrument driver 4.

[0107] The second turntable 32 drives the shaft 1 to rotate, and the rotation angle of the shaft 1 is not restricted. Therefore, the second turntable 32 can rotate without limit to meet certain special surgical requirements. When the surgical instrument is just placed on the sterile adapter 5, if the groove of the second turntable 32 is not correctly aligned with the convex part 52 of the sterile adapter, there will be a frictional force between the second turntable 32 and the sterile adapter 5. Under the action of this frictional force, the instrument driver 4 rotates to drive the second turntable 32 to rotate. Since the second turntable 32 can rotate without limit along with the instrument driver 4 and the sterile adapter 5, it is difficult for the instrument driver 4 to engage with the second turntable 32.

[0108] At this time, drive the first turntable 31 to move the end effector 2 and apply a rotational resistance moment to the shaft 1. The rotational resistance received by the shaft 1 is transmitted to the second turntable 32, reducing the rotational speed of the second turntable 32 or stopping the second turntable from rotating along with the instrument driver 4 and the sterile adapter 5, resulting in a rotational speed difference between the second turntable 32 and the instrument driver 4. After a period of time, the convex part 52 of the sterile adapter 5 will be embedded in the groove of the second turntable 32, thus achieving the engagement of the second turntable 32 with the sterile adapter 5 and the instrument driver 4.

[0109] Step S302: Determine whether the second turntable 32 is engaged with the instrument driver 4 according to the rotational states of the driving member 41 and the turntable. Among them, when the driving member 41 is driven, when both the driving member 41 and the second turntable 32 stop rotating, it is determined that the second turntable 32 is successfully engaged with the instrument driver 4. The driving member 41 being driven means that at this time, the driving member 41 is in a state where it can output torque and has a tendency to rotate. In this state, if the power output by the driving member 41 is not sufficient to drive the second turntable 32 to rotate, then the driving member 41 will rotate relative to the second turntable 32 itself. After the driving member 41 is engaged with the second turntable 32, the driving member 41 and the second turntable 32 should rotate synchronously. Since the second turntable 32 cannot rotate in response to the rotational resistance moment, the driving member 41 also cannot overcome the rotational resistance moment to rotate. At this time, it can be determined that the second turntable 32 is successfully engaged with the instrument driver 4.

[0110] Furthermore, when the driving member 41 is driven, when the driving member 41 rotates and the second turntable 32 stops rotating, it is determined that the second turntable 32 is not yet successfully engaged with the instrument driver 4. The second turntable 32 stops and the driving member 41 rotates, which means that there is a relative angular displacement between the driving member 41 and the second turntable 32 at this time. After the driving member 41 and the second turntable 32 are engaged, the driving member 41 and the second turntable 32 rotate synchronously and there is no relative angular displacement. Therefore, the engagement state of the second turntable 32 with the instrument driver 4 can be determined by the rotational states of the driving member 41 and the second turntable 32.

[0111] The engagement of the turntable of a known surgical instrument is usually determined by detecting the torque of the instrument driver. For example, in a known surgical instrument, the rotational freedom of the instrument shaft is restricted by a mechanical limiting structure. When the turntable of the surgical instrument is successfully engaged with the instrument driver and the instrument shaft hits the mechanical limit, the rotation of the instrument shaft is restricted, and the motor of the instrument driver applies a large preset torque but still cannot rotate the instrument shaft. At this time, it can be determined that the turntable of the instrument shaft of the surgical instrument has been engaged. However, it is necessary to add a mechanical limiting structure to the surgical instrument, resulting in the complication of the structure of the surgical instrument. Moreover, if the engagement is judged by mechanical limitation, the mechanical limitation will prevent the instrument shaft from rotating more than 360°, and some special functions of the surgical instrument cannot be realized.

[0112] According to the method for judging the engagement of the surgical instrument of the present application, without relying on other components such as torque sensors, etc., the engagement judgment between the surgical instrument and the instrument driver 4 can be realized, which is beneficial to simplifying the structures of the surgical instrument and the instrument driver 4, reducing the design cost, and also ensuring the movement stroke of the surgical instrument.

[0113] Reference Figure 8 , based on the above respective embodiments, the present application further provides a device for judging the engagement of a surgical instrument, including:

[0114] An engagement module 400 that engages the first turntable 31 with the instrument driver 4, and the instrument driver 4 further includes a driving member 41 for engaging the second turntable 32.

[0115] A driving module 401 that drives the first turntable 31 to move the end effector 2 to apply a rotational resistance moment to the shaft 1, and in response to the rotational resistance moment, the second turntable 32 is engaged with the instrument driver 4.

[0116] A judgment module 402 that judges whether the second turntable 32 is engaged with the instrument driver 4 according to the rotational states of the driving member 41 and the turntable. Among them, when the driving member 41 is driven, when both the driving member 41 and the second turntable 32 stop rotating, it is judged that the second turntable 32 is successfully engaged with the instrument driver 4.

[0117] Optionally, when the driving member 41 is driven, the judgment module 402 judges that the second turntable 32 is not yet successfully engaged with the instrument driver 4 when the driving member 41 rotates and the second turntable 32 stops rotating.

[0118] Based on Figure 4 the engagement method of the surgical instrument shown or Figure 7 the engagement judgment method of the surgical instrument shown, the embodiments of the present application further provide Figure 9 the structural schematic diagram of the electronic device shown. As Figure 9, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above Figure 4 joining method of the surgical instrument described above or Figure 7 joining judgment method of the surgical instrument shown.

[0119] Of course, in addition to the software implementation method, this application does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or a logic device.

[0120] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many method flow improvements today can be regarded as direct improvements to hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented using a hardware entity module. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. The designer can program on their own to "integrate" a digital system on a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a Hardware Description Language (HDL), and there is not just one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. Currently, the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that by simply performing a little logical programming on the method flow using the above-mentioned several hardware description languages and programming it into the integrated circuit, it is easy to obtain the hardware circuit that implements the logical method flow.

[0121] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to make the controller implement the same function in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0122] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0123] For the convenience of description, when describing the above devices, they are described separately as various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0124] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0125] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and combinations of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 one or more of the blocks and for implementing the functions specified in the one or more of the flows and / or blocks

[0126] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 one or more of the blocks and for implementing the functions specified in the one or more of the flows and / or blocks

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 one or more of the blocks and for implementing the functions specified in the one or more of the flows and / or blocks

[0128] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0129] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0130] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0131] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0132] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0133] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0134] The medical system 100 of the present application also includes Figure 9The electronic device of the illustrated embodiment. The electronic device implements the engagement method of the surgical instrument of the present application to engage the surgical instrument and the instrument driver 4. Alternatively, the electronic device implements the engagement determination method of the surgical instrument of the present application to determine whether the surgical instrument and the instrument driver 4 are successfully engaged. Therefore, the medical system 100 of the present application can achieve the engagement or engagement determination of the surgical instrument and the instrument driver 4 without the aid of an additional limiting structure or turntable, simplifies the design of the surgical instrument and the instrument driver 4, reduces the number of parts, and thus reduces the cost.

[0135] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art to which the present application pertains can make various modifications, supplements, or use similar methods to replace the described specific embodiments, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

[0136] The technical features of the above 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 to be within the scope described in this specification.

Claims

1. A method for engaging a surgical instrument, characterized in that: The surgical instrument includes a drive mechanism, a shaft connected to the distal end of the drive mechanism, and an end effector connected to the distal end of the shaft. The drive mechanism includes a first turntable for driving the movement of the end effector and a second turntable for driving the rotation of the shaft. The first turntable and the second turntable are driven to rotate by an instrument driver. The method for engaging the surgical instrument includes: Engaging the first turntable with the instrument driver; and Driving the first turntable to move the end effector and apply a rotational resistance moment to the shaft. In response to the rotational resistance moment, the second turntable engages with the instrument driver.

2. The method for joining a surgical instrument according to claim 1, characterized in that, Driving the first turntable to move the end effector and apply a rotational resistance moment to the shaft includes: The end effector moves to generate a resistance moment with an external feature to apply a rotational resistance moment to the shaft; or the end effector moves to generate the rotational resistance to the shaft inside the drive mechanism.

3. The method for joining the surgical instrument according to claim 1, characterized in that, Driving the first turntable to move the end effector and apply a rotational resistance moment to the shaft includes: Driving the first turntable to make the end effector abut against a cannula to generate a resistance moment.

4. The joining method of the surgical instrument according to claim 3, characterized in that, Driving the first turntable to make the end effector abut against a cannula to generate a resistance moment includes: Driving the first turntable to rotate a preset angle to make the end effector abut against the cannula; The instrument driver further includes a driving member for engaging the second turntable, and the maximum output torque of the driving member is less than the frictional torque received by the second turntable when the first turntable rotates to the preset angle.

5. The method for joining the surgical instrument according to claim 1, characterized in that, Driving the first turntable to move the end effector and apply a rotational resistance moment to the shaft includes: Driving the first turntable to close the end effector and generate a preset clamping force. When the end effector generates the preset clamping force, the drive mechanism applies a resistance moment towards the proximal end to the shaft.

6. The method for joining surgical instruments according to claim 5, characterized in that, The drive mechanism includes: A base; A first transmission component, the first transmission component is arranged on the base, and the first turntable drives the first transmission component to rotate; A lever member, a first end of the lever member is connected to the first transmission component to rise and fall following the rotation of the first transmission component. A second end of the lever member opposite to the first end is connected to the shaft, and a non-end portion of the lever member is pivotally connected to the base to form a fulcrum; Wherein, when the first end of the lever member rises, the end effector tends to open; When the first end of the lever member descends, the end effector tends to clamp; The resistance moment towards the proximal end applied by the drive mechanism to the shaft is: the frictional torque generated by the lever member on the shaft when the first turntable rotates a preset angle; The instrument driver further includes a driving member for engaging the second turntable, and the maximum output torque of the driving member is less than the frictional torque received by the second turntable when the first turntable rotates to the preset angle.

7. The joining method of the surgical instrument according to claim 1, characterized in that, The instrument driver further includes a driving member for engaging the second turntable, and a maximum output torque of the driving member is less than a frictional torque applied to the second turntable under the rotational resistance torque. In response to the rotational resistance torque, engaging the second turntable with the instrument driver includes: In response to the rotational resistance torque, the second turntable stops rotating, and the instrument driver rotates to engage with the second turntable.

8. The joining method of the surgical instrument according to claim 1, characterized in that, The instrument driver further includes a driving member for engaging the second turntable, and the method for engaging the surgical instrument further includes: Judging whether the second turntable is engaged with the instrument driver according to rotational states of the driving member and the second turntable, wherein, when the driving member is driven, when both the driving member and the second turntable stop rotating, it is judged that the second turntable is successfully engaged with the instrument driver.

9. The method for joining a surgical instrument according to claim 8, wherein When the driving member is driven, when the driving member rotates and the second turntable stops rotating, it is judged that the second turntable is not yet successfully engaged with the instrument driver.

10. The method for joining the surgical instrument according to claim 1, characterized in that, A rotatable angle of the first turntable is less than a rotatable angle of the second turntable. Engaging the first turntable with the instrument driver includes: the first turntable stops after rotating through the rotatable angle and engages with the instrument driver.

11. A method for judging engagement of a surgical instrument, characterized in that: The surgical instrument includes a driving mechanism, a shaft connected to a distal end of the driving mechanism, and an end effector connected to a distal end of the shaft. The driving mechanism includes a first turntable for driving the end effector to move and a second turntable for driving the shaft to rotate. The first turntable and the second turntable are driven to rotate by an instrument driver. The method for judging engagement of the surgical instrument includes: Engaging the first turntable with the instrument driver, and the instrument driver further includes a driving member for engaging the second turntable; Driving the first turntable to move the end effector and apply a rotational resistance torque to the shaft. In response to the rotational resistance torque, the second turntable is engaged with the instrument driver; and Judging whether the second turntable is engaged with the instrument driver according to rotational states of the driving member and the second turntable, wherein, when the driving member is driven, when both the driving member and the second turntable stop rotating, it is judged that the second turntable is successfully engaged with the instrument driver.

12. The method for judging the engagement of the surgical instrument according to claim 11, wherein, When the driving member is driven, when the driving member rotates and the second turntable stops rotating, it is judged that the second turntable is not yet successfully engaged with the instrument driver.

13. A joining device for a surgical instrument, characterized in that, The surgical instrument includes a driving mechanism, a shaft connected to a distal end of the driving mechanism, and an end effector connected to a distal end of the shaft. The driving mechanism includes an instrument driver, a first turntable for driving the end effector to move, and a second turntable for driving the shaft to rotate. The first turntable and the second turntable are driven to rotate by the instrument driver. The engaging device of the surgical instrument includes: An engaging module for engaging the first turntable with the instrument driver; A drive module drives the first turntable to move the end effector to apply a rotational resistance moment to the shaft. In response to the rotational resistance moment, the second turntable engages with the instrument driver.

14. A computer-readable storage medium, characterized in that, The storage medium stores a computer program which, when executed by a processor, implements the engagement method of the surgical instrument according to any one of claims 1-10 or the engagement judgment method of the surgical instrument according to any one of claims 11-13.

15. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the engagement method of the surgical instrument according to any one of claims 1-10 or the engagement judgment method of the surgical instrument according to any one of claims 11-13.

16. A medical system, characterized in that, It includes an instrument driver, a surgical instrument, and the electronic device according to claim 15. The electronic device is used to engage the surgical instrument and the instrument driver or to judge whether the surgical instrument and the instrument driver are successfully engaged.

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