Instrument safety device, surgical instrument and use method thereof

Abstract

The invention relates to an instrument safety device, a surgical instrument and a use method of the surgical instrument, the instrument safety device comprises a first shaft, a second shaft, a driving gear and a knob, the first shaft is connected with a driving end of a robot, the second shaft and the first shaft can slide axially and are connected in a circumferential locking mode, the driving gear is connected with a traction body, and a directional pushing rod is arranged on the knob; when the driving gear is in the first driving state, the second shaft extends into a directional hole in the driving gear, the second shaft and the driving gear can axially slide and are connected in a circumferential locking mode, and the driving gear is driven to rotate through the driving end of the robot, the first shaft and the second shaft in sequence; when the driving gear is in a second driving state, the directional pushing rod is inserted into the directional hole and forms circumferential locking with the driving gear, the second shaft is pushed to release the circumferential locking with the driving gear, and the driving gear is driven to rotate by rotating the knob. The technical problems that the anastomat cannot continue anastomosis due to too large resistance and cannot complete automatic retracting action are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an instrument safety device, a surgical instrument and a method of using the same. Background Art

[0002] In recent years, with the application and development of robotics-related technologies, particularly computing technology, the role of medical surgical robots in clinical practice has received increasing attention. Minimally invasive surgical robotic systems can reduce the physical workload of doctors during surgery through interventional therapy, while achieving the goal of precise surgery, minimizing trauma, blood loss, postoperative infection, and rapid recovery. The design and safety of surgical instruments used by surgical robots directly determine the success or failure of minimally invasive surgical robotic systems, which can better assist doctors in completing surgical operations. The performance of surgical instruments is a key factor influencing the performance of minimally invasive surgical robotic systems.

[0003] During surgery, a robotic stapler may be unable to continue stapling due to excessive resistance, and the robot cannot automatically retract the stapler. In this case, since the end jaws of the stapler are in a closed state, clamping the human tissue, forcibly removing the stapler will cause serious damage to the human tissue. Therefore, it is necessary to switch to manual control to open the stapler jaws. The stapler can only be removed after the jaws are manually opened. Staplers that have been manually opened usually have a high risk of structural damage, so they should not be reused after manual opening. At the same time, during the manual opening of the stapler, it is necessary to avoid the movement of the surgical instrument, which may cause damage to the patient by pulling on the tissue. Therefore, a more reliable measure is to manually retract the surgical instrument when the surgical instrument is installed on the robot. However, in existing structures, rotation of the retraction knob usually drives the joint motor on the robot. The joint motor on the robot is usually in a position lock when the robot is turned on, which will hinder the rotation of the retraction knob. Therefore, disconnecting the transmission between the retraction knob and the robot joint motor during manual retraction is a safer and more reliable method for retracting the surgical instrument and opening the instrument.

[0004] However, the existing instrument joints installed on the robot are not easy to reverse drive to complete the operation of retracting the knife and opening the instrument, and the manual operation of opening the instrument has a high risk of structural damage, and its reuse should be avoided. However, the instruments currently on the market still have the problem of being misused during surgery.

[0005] There is currently no effective solution to the problem that during the anastomosis process, the stapler used in the surgical robot cannot continue the anastomosis due to excessive resistance, and the robot cannot automatically retract the tool.

[0006] Therefore, the present invention provides an instrument safety device, a surgical instrument and a method of using the same to overcome the defects of the prior art. Summary of the Invention

[0007] The purpose of the present invention is to provide an instrument safety device, a surgical instrument and a method of use thereof, which can cut off the torque transmission between the instrument and the driving end of the robot without moving the position of the instrument, and manually transmit torque to enable the instrument to complete the retraction and opening action, thereby ensuring the safety of the surgical process.

[0008] Another object of the present invention is to provide an instrument safety device, a surgical instrument and a method of use thereof. After the instrument is manually withdrawn, a prompt can be triggered to indicate that the instrument is scrapped and cannot be used again, thereby ensuring that the instrument is not likely to cause damage to the clamped patient tissue, avoiding misuse of problematic instruments, improving the safety of the surgical process, and at the same time having better human-computer interaction, thereby improving the convenience of surgical operations.

[0009] The purpose of the present invention can be achieved by adopting the following scheme:

[0010] The present invention provides an instrument safety device, comprising:

[0011] A first shaft, the first shaft being connected to a driving end of the robot;

[0012] a second shaft connected to the first shaft in an axially slidable and circumferentially locked manner;

[0013] A driving gear, the driving gear being connected to a traction body that drives the execution end of the instrument;

[0014] A knob, wherein the knob is provided with a directional push rod;

[0015] The driving gear has a first driving state and a second driving state. When the driving gear is in the first driving state, at least a portion of the second shaft extends into the directional hole on the driving gear, and the second shaft and the driving gear can be axially slidable and circumferentially locked. The driving gear is driven to rotate through the driving end of the robot, the first shaft and the second shaft in sequence; when the driving gear is in the second driving state, the directional pushing rod is inserted into the directional hole and forms a circumferential lock with the driving gear, pushing the second shaft to slide axially relative to the driving gear until the circumferential lock between the second shaft and the driving gear is released, and the driving gear is driven to rotate by rotating the knob.

[0016] In a preferred embodiment of the present invention,

[0017] At least a portion of said first axis forms a first orientation segment;

[0018] At least a portion of the second shaft forms a connected second orientation section and a push section, the second shaft has a first orientation hole, at least a portion of the first orientation section can be axially slidably inserted into the first orientation hole, and the second shaft is circumferentially locked to the first shaft;

[0019] The directional hole includes a second directional hole and a third directional hole that are intersecting each other, the second directional section can be slidably inserted into the second directional hole, and the second shaft and the driving gear are circumferentially locked, and the pushing section can pass through the second directional hole and extend into the third directional hole;

[0020] When the directional pushing rod is not inserted into the third directional hole, the directional pushing rod is circumferentially locked with the driving gear, and the driving end of the robot can sequentially drive the first shaft, the second shaft and the driving gear to rotate, thereby driving the instrument to move through the driving end of the robot; when the directional pushing rod is inserted into the third directional hole, the directional pushing rod pushes the pushing section to make the second directional section exit the second directional hole, and the knob can drive the driving gear to rotate, thereby driving the instrument to move through the knob.

[0021] In a preferred embodiment of the present invention, the instrument safety device has a housing, the housing including a side wall portion, a bottom plate, and a top cover, the bottom plate and the top cover being respectively disposed at the bottom and top of the side wall portion to enclose a receiving cavity between the side wall portion, the bottom plate, and the top cover, the first shaft, the second shaft, and the driving gear being all located within the receiving cavity, and the bottom of the first shaft being rotatable in the circumferential direction and axially positioned on the bottom plate;

[0022] A middle base plate is provided in the accommodating cavity, the second shaft and the driving gear are both located above the middle base plate, and the middle base plate has a through hole, through which at least part of the first shaft can pass and be inserted into the directional hole.

[0023] In a preferred embodiment of the present invention, a limiting boss is provided on the first shaft, and an elastic member is provided on the first shaft. When the directional push rod is inserted into the directional hole, the directional push rod pushes the second shaft to slide in a direction close to the limiting boss to compress the elastic member until both ends of the elastic member respectively abut against the limiting boss and the bottom of the second shaft.

[0024] In a preferred embodiment of the present invention, the accommodating chamber has a driven gear, and the driven gear is rotatably connected to the inner wall of the outer shell through a driven shaft. A winch is connected to the driven shaft, and one end of the traction body of the device is arranged on the winch. The driving teeth on the outer wall of the driving gear are engaged with the teeth on the driven gear.

[0025] In a preferred embodiment of the present invention, a ratchet is provided on the directional push rod, and a plug-in hole is provided on the top cover. The inner wall of the plug-in hole forms a pawl structure that is adapted to the ratchet and has elasticity, so as to limit the knob in one direction when the directional push rod is inserted into the plug-in hole.

[0026] In a preferred embodiment of the present invention, the directional push rod is provided with a first magnetic attraction portion, and the driving gear is provided with a second magnetic attraction portion. When the directional push rod is inserted into the directional hole, the first magnetic attraction portion is magnetically connected to the second magnetic attraction portion.

[0027] Alternatively, a slot is provided on the outer wall of the directional push rod, and an interference sleeve is provided in the slot with an anti-slip ring, and when the directional push rod is inserted into the directional hole, the anti-slip ring is pressed between the inner wall of the slot and the inner wall of the directional hole;

[0028] Alternatively, a limiting groove is provided on the outer wall of the directional pushing rod, a mounting groove is provided on the outer wall of the driving gear, a mounting hole connected to the directional hole is provided on the bottom wall of the mounting groove, a top ball is embedded in the mounting hole, a hoop is sleeved in the mounting groove, and the hoop pushes the top ball so that at least part of the top ball protrudes from the directional hole. When the directional pushing rod is inserted into the directional hole, the part of the top ball protruding from the directional hole is engaged in the limiting groove.

[0029] In a preferred embodiment of the present invention, the instrument safety device also includes a status recognition device. When the directional push rod is inserted into the directional hole, the sliding of the second shaft triggers the state of the status recognition device to change, so as to display the usage status and / or usage count of the instrument.

[0030] In a preferred embodiment of the present invention, the state identification device includes a circuit board substrate, a micro switch and a spring needle. The micro switch and the spring needle are both arranged on the circuit board substrate. The micro switch is connected to the spring needle through a circuit. When the directional push rod is inserted into the directional hole, the micro spring on the micro switch is triggered to change the on-off state of the circuit between the micro switch and the spring needle, thereby changing the pop-up state of the spring needle.

[0031] In a preferred embodiment of the present invention, a recording chip is provided on one of the lines connecting the micro switch and the spring needle, so as to record the usage status or usage count of the device when the micro switch spring is triggered;

[0032] Alternatively, two circuits are provided between the micro switch and the spring needle, and the micro switch can switch the two circuits to conduct, and recording chips are provided on the two circuits respectively to record the usage status or usage times of the device when the micro spring is triggered.

[0033] In a preferred embodiment of the present invention, the instrument safety device has a shell, a guide trigger device and a middle base plate are arranged in the shell, the guide trigger device includes a guide body and a fixing ring, a guide rod and a push rod arranged on the guide body, a fixing groove is provided on the lower outer wall of the second shaft, the middle base plate is provided with a guide groove, the fixing ring is sleeved in the fixing groove, the guide rod can be slidably embedded in the guide groove up and down, the top of the push rod is connected to the bottom of the guide body, and the bottom of the push rod can pass through the middle base plate and extend below the middle base plate;

[0034] When the directional push rod pushes the second shaft to move downward, the second shaft drives the guide trigger device to move downward synchronously, so that the bottom of the push rod triggers the micro-spring on the micro-switch.

[0035] In a preferred embodiment of the present invention, the guide body is provided with an indicator mark showing the different usage states of the instrument, and the shell has a status display window. The guide trigger device is moved up and down so that the different indicator marks are opposite to the status display window.

[0036] The present invention provides a surgical instrument, comprising:

[0037] The aforementioned device safety devices;

[0038] An instrument rod, the proximal end of which is connected to the instrument safety device, and a traction body is inserted into the instrument rod;

[0039] An actuator assembly is arranged at the distal end of the instrument rod, and the action end of the actuator assembly is connected to the driving gear in the instrument safety device through the traction body.

[0040] The present invention provides a method for using an instrument safety device, which uses the above-mentioned instrument safety device to detect surgical instruments. The method comprises the following steps:

[0041] installing the surgical instrument on a surgical robot;

[0042] detecting whether the torque of the first shaft in the device safety device is lower than a preset threshold when closing the actuator;

[0043] If the torque of the first shaft is lower than the preset threshold, the surgical instrument is abnormal and cannot be used; if the torque of the first shaft is not lower than the preset threshold, the surgical instrument can be used normally.

[0044] The present invention provides a method for using an instrument safety device, which uses the above-mentioned instrument safety device to detect surgical instruments. The method comprises the following steps:

[0045] installing the surgical instrument on a surgical robot;

[0046] detecting usage information recorded by a recording chip in the device safety device;

[0047] judging whether the surgical instrument can be used normally according to the usage information;

[0048] If the surgical instrument has been used or has reached the number of times it has been used, the surgical instrument is abnormal and cannot be used; if the surgical instrument has not been used or has not reached the number of times it has been used, the surgical instrument can be used.

[0049] As described above, the characteristics and advantages of the instrument safety device, surgical instrument, and method of use thereof of the present invention are:

[0050] The first shaft is connected to the driving end of the robot, the second shaft is connected to the first shaft in an axially sliding and circumferentially locked manner, at least a portion of the second shaft can extend into the directional hole on the driving gear, and the second shaft is connected to the driving gear in an axially sliding and circumferentially locked manner. Since the first shaft is in a circumferentially locked state relative to the second shaft and the second shaft is in a circumferentially locked state relative to the driving gear, the first shaft, the second shaft and the driving gear can be driven to rotate synchronously through the driving end of the robot, and then the execution end of the instrument is driven to perform an action (such as the opening and closing action of the anastomosis device) through the driving gear, thereby realizing remote control of the instrument during the operation; when the execution end of the instrument occurs When the torque required by the end is too large and the action cannot be performed, the second shaft can be pushed by the directional pushing rod of the knob to make the second shaft slide axially relative to the driving gear until the circumferential lock between the second shaft and the driving gear is released, thereby disconnecting the circumferential transmission between the second shaft and the driving gear, that is, the second shaft and the driving gear cannot transmit torque, thereby achieving the purpose of disconnecting the control of the driving end of the robot over the executing end of the instrument. At this time, the driving gear can be driven to rotate by manually rotating the knob, and then the executing end of the instrument can be manually controlled to ensure that sufficient torque can be provided to the executing end of the instrument to drive the executing end of the instrument to complete the action. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The following drawings are only intended to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0052] in:

[0053] Figure 1 This is one of the structural diagrams of the device safety device of the present invention;

[0054] Figure 2 This is a schematic diagram of the internal structure of the device safety device of the present invention when the knob is not inserted;

[0055] Figure 3 This is a schematic diagram of the internal structure of the device safety device of the present invention when the knob is inserted;

[0056] Figure 4 This is the second schematic diagram of the internal structure of the device safety device of the present invention when the knob is inserted;

[0057] Figure 5 An exploded view of the safety device of the present invention;

[0058] Figure 6 This is a schematic structural diagram of the assembly state of the first shaft, the second shaft, the drive gear, and the knob in the instrument safety device of the present invention;

[0059] Figure 7 This is a schematic diagram of the structure of the first shaft, the second shaft, the driving gear and the knob in the disassembled state of the instrument safety device of the present invention;

[0060] Figure 8 Schematic diagram of the positional relationship among the first shaft, the second shaft, the driving gear and the knob in the device safety device of the present invention when the knob is not inserted;

[0061] Figure 9 A schematic diagram of the positional relationship among the first shaft, the second shaft, the driving gear, and the knob in the apparatus safety device of the present invention when the knob is inserted;

[0062] Figure 10 This is one of the structural diagrams of the knob in the device safety device of the present invention;

[0063] Figure 11 This is the second structural diagram of the knob in the device safety device of the present invention;

[0064] Figure 12 Schematic diagram of the structure of the top cover of the device safety device of the present invention;

[0065] Figure 13 This is one of the structural diagrams of the guide trigger device in the device safety device of the present invention;

[0066] Figure 14 This is a schematic structural diagram of the middle substrate of the device safety device of the present invention;

[0067] Figure 15 This is a schematic diagram of the position of the status display window in the device safety device of the present invention;

[0068] Figure 16 This is the second schematic diagram of the position of the status display window in the device safety device of the present invention;

[0069] Figure 17 Schematic diagram of the structure of the state recognition device in the device safety device of the present invention;

[0070] Figure 18 This is one of the circuit structure diagrams of the state recognition device in the device safety device of the present invention;

[0071] Figure 19 This is the second circuit structure diagram of the state recognition device in the device safety device of the present invention;

[0072] Figure 20 Schematic diagram of the bottom of the housing of the device safety device of the present invention;

[0073] Figure 21 This is a schematic diagram of the structure of the connection position between the knob and the drive gear in the instrument safety device of the present invention;

[0074] Figure 22 This is the second structural diagram of the connection position between the knob and the drive gear in the instrument safety device of the present invention;

[0075] Figure 23 This is a schematic structural diagram of the knob and drive gear in the device safety device of the present invention in a disassembled state;

[0076] Figure 24 This is a schematic diagram of the structure of the device safety device of the present invention when the release rod is not inserted;

[0077] Figure 25 This is a schematic diagram of the structure of the device safety device of the present invention when the release rod is inserted;

[0078] Figure 26 This is the second structural diagram of the device safety device of the present invention;

[0079] Figure 27 This is a schematic diagram of the internal structure of the device safety device of the present invention when the release rod is not inserted;

[0080] Figure 28 This is the second structural diagram of the guide trigger device in the device safety device of the present invention;

[0081] Figure 29 It is a schematic structural diagram of the surgical instrument of the present invention;

[0082] Figure 30 Schematic diagram of the structure of the surgical robot system of the present invention;

[0083] Figure 31 This is a flow chart of the control method of the device safety device of the present invention;

[0084] Figure 32 This is one of the flow charts of the method of using the device safety device of the present invention;

[0085] Figure 33 This is the second flow chart of the method for using the device safety device of the present invention. DETAILED DESCRIPTION

[0086] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, modifications of various equivalent forms of the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0087] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an element centered thereon. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an element centered thereon. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementations.

[0088] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0089] In the prior art, when performing minimally invasive surgery, the drive shaft that controls the action of the stapler's execution end is connected to the drive end on the surgical robot (such as the output shaft of the drive motor), and the drive device provides driving force to drive the action of the stapler's execution end. However, in some special cases, the stapler cannot continue to perform anastomosis due to excessive resistance during the operation, and the torque provided by the drive device cannot complete the automatic retraction action of the stapler. At this time, since the end jaws of the stapler are in a state of clamping human tissue and closing, if the stapler is forcibly pulled out, it will cause serious damage to the human tissue. Therefore, it is necessary to disconnect the drive device from the stapler's execution end and switch to manual control mode. By manually providing sufficient torque to the drive shaft that controls the action of the stapler's execution end, the stapler jaws can be opened to achieve safe removal of the stapler. Based on the above situation, the present invention provides an instrument safety device that can cut off the torque transmission between the stapler's execution end and the drive device without moving the instrument position, and manually transmit torque to enable the stapler to complete the retraction and opening action, thereby ensuring the safety of the surgical process. The structure of the instrument safety device is described below:

[0090] Implementation Method 1

[0091] like Figures 1 to 23 As shown, the present invention provides an instrument safety device, which includes a first shaft 1, a second shaft 2, a driving gear 3 and a knob 4. The first shaft 1 is vertically arranged and the bottom of the first shaft 1 is connected to the driving end of the robot. The second shaft 2 is vertically arranged above the first shaft 1, and the second shaft 2 and the first shaft 1 can be axially slid and circumferentially locked. The driving gear 3 is located above the second shaft 2, and a traction body 11 is connected to the driving gear 3. The driving gear 3 is used to drive the execution end of the instrument to move (such as driving the anastomosis device to perform an opening and closing action) through the traction body 11, and a directional hole is provided on the driving gear 3. The driving gear 3 has a first driving state and a second driving state. When the driving gear 3 is in the first driving state, at least part of the second shaft 2 extends into the directional hole on the driving gear 3, and the second shaft 2 and the driving gear 3 can be axially slid and circumferentially locked. At this time, the driving gear 3 can be rotated by the driving end of the robot, the first shaft 1 and the second shaft 2 in turn, and then the traction body 11 is driven to move by the driving gear 3, so that the electric control of the execution end action of the instrument can be achieved through the driving end of the robot; when the driving gear 3 is in the second driving state, the directional pushing rod 401 is inserted into the directional hole and forms a circumferential lock with the driving gear 3. The directional pushing rod 401 pushes the second shaft 2 to slide axially relative to the driving gear 3 until the circumferential lock between the second shaft 2 and the driving gear 3 is released. At this time, the driving gear 3 can be driven to rotate by rotating the knob 4, and then the traction body 11 is driven to move by the driving gear 3, so that manual control of the execution end action of the instrument can be achieved by manually rotating the knob 4.

[0092] In the present invention, when the device is in normal working condition, the driving end of the robot transmits torque through the first shaft 1, thereby realizing the motion control of the device. Therefore, the first shaft 1 can be defined as the driving shaft; and by changing the relative position of the second shaft 2 and the driving gear 3, the electric and manual switching of the device control can be realized. Therefore, the second shaft 2 can be defined as the clutch shaft.

[0093] In the present invention, the first shaft 1 is connected to the driving end of the robot, the second shaft 2 is connected to the first shaft 1 in an axially sliding and circumferentially locked manner, at least a portion of the second shaft 2 can extend into the directional hole on the driving gear 3, and the second shaft 2 is connected to the driving gear 3 in an axially sliding and circumferentially locked manner. Since the first shaft 1 is in a circumferentially locked state relative to the second shaft 2 and the second shaft 2 is in a circumferentially locked state relative to the driving gear 3, the first shaft 1, the second shaft 2 and the driving gear 3 can be driven to rotate synchronously through the driving end of the robot, and then the execution end of the instrument is driven to perform an action (such as the opening and closing action of the anastomosis device) through the driving gear 3, thereby realizing remote control of the instrument during the operation; when the instrument When the torque required by the actuator end of the instrument is too large and the instrument cannot move, the directional push rod 401 of the knob 4 can be used to push the second shaft 2, causing the second shaft 2 to slide axially relative to the drive gear 3 until the circumferential lock between the second shaft 2 and the drive gear 3 is released, thereby disconnecting the circumferential transmission between the second shaft 2 and the drive gear 3, that is, the second shaft 2 and the drive gear 3 cannot transmit torque, achieving the purpose of disconnecting the control of the robot's drive end over the instrument's actuator end. At this time, the drive gear 3 can be driven to rotate by manually rotating the knob 4, and then the instrument's actuator end can be manually controlled to ensure that sufficient torque is provided to the instrument's actuator end to drive the instrument's actuator end to complete the action. For example, if a robotic stapler cannot continue to perform an anastomosis due to excessive resistance during surgery, the robot's drive end can be disconnected and the stapler can be manually controlled by rotating the knob 4 to ensure the completion of the stapler's retraction action, avoid entanglement of human tissue, and ensure the safety of the surgery.

[0094] In an optional embodiment of the present invention, Figures 1 to 9As shown, the first shaft 1 and the second shaft 2 are both arranged vertically, and a first directional section 101 is formed at at least part of the upper position of the first shaft 1; at least part of the second shaft 2 forms a second directional section 202 and a pushing section 201 connected in sequence from bottom to top, and the bottom of the second shaft 2 has a first directional hole 205, at least part of the first directional section 101 can be axially slidably inserted into the first directional hole 205, and after at least part of the first directional section 101 is inserted into the first directional hole 205, the second shaft 2 and the first shaft 1 can be circumferentially locked; the above-mentioned directional holes include a second directional hole 301 and a third directional hole 302 that pass through vertically, the second directional section 202 of the second shaft 2 can be slidably inserted into the second directional hole 301 from bottom to top, and the second shaft 2 and the driving gear 3 form a circumferential lock, at this time, the pushing section 201 passes through the second directional hole 301 and extends into the third directional hole 302; when the instrument can work normally, the directional pushing rod 401 is not inserted Connected to the third directional hole 302, since the directional pushing rod 401 and the driving gear 3 form a circumferential lock, the driving end of the robot can drive the first shaft 1, the second shaft 2 and the driving gear 3 to rotate in sequence, that is, the driving end of the robot drives the instrument to move, thereby realizing electric control of the instrument; when the torque transmitted by the driving end of the robot cannot control the instrument to perform normal movement, the directional pushing rod 401 is inserted into the third directional hole 302, so that the bottom end of the directional pushing rod 401 pushes the pushing section 201 to slide down, until the second directional section 202 synchronously slides down and exits the second directional hole 301. At this time, the circumferential lock formed by the second shaft 2 and the driving gear 3 is released, and the driving end of the robot can no longer transmit torque to control the instrument, so that the driving gear 3 can be driven to rotate by rotating the knob 4, thereby achieving the purpose of manually controlling the movement of the instrument, so that the instrument can be manually manipulated without moving, thereby ensuring the safety of the operation.

[0095] In the present invention, the driving end of the robot may be but is not limited to the output shaft of the driving motor on the surgical robot.

[0096] In the above embodiment, if Figures 2 to 9As shown, the first shaft 1 and the second shaft 2 are both arranged vertically, the axis of the driving gear 3 is also arranged vertically, and the first shaft 1, the second shaft 2 and the driving gear 3 are coaxially arranged, and the second shaft 2 and the driving gear 3 can both slide along the axis, so that when the directional pushing rod 401 is not inserted into the third directional hole 302, the first shaft 1 and the second shaft 2 and the second shaft 2 and the driving gear 3 are circumferentially locked respectively, so that torque can be transmitted between the first shaft 1, the second shaft 2 and the driving gear 3; and when the directional pushing rod 401 is inserted into the third directional hole 302, the directional pushing rod 401 pushes the second shaft 2 to slide downward, so that the second directional section 202 of the second shaft 2 slides down and exits the second directional hole 301. At this time, the circumferential locking between the second shaft 2 and the driving gear 3 is released, so that by manually rotating the knob 4, the driving gear 3 can be driven to rotate, so that torque can be transmitted between the knob 4 and the driving gear 3, thereby realizing manual control of the execution end of the instrument.

[0097] In a specific embodiment of the present invention, Figures 1 to 5 、 Figures 15 and 16 、 Figure 20 As shown, the device safety device comprises a housing 5, which includes sidewalls 501, a bottom plate 502, and a top cover 503. The bottom plate 502 and top cover 503 are removably attached to the bottom and top of the sidewalls 501, respectively, to form a housing cavity enclosed between the sidewalls 501, the bottom plate 502, and the top cover 503. The first shaft 1, the second shaft 2, and the drive gear 3 are all located within the housing cavity. The housing 5 protects the various internal components, ensuring operational stability. A central base plate 504 is disposed within the housing cavity. The second shaft 2 and the drive gear 3 are both located above the central base plate 504. The central base plate 504 has a through hole 5041 vertically opposed to the first shaft 1. At least the first directional section 101 of the first shaft 1 can pass through the through hole 5041 and be inserted into the first directional hole 205. Among them, the bottom of the first axis 1 can rotate circumferentially and is axially positioned on the base plate 502, and the base plate 502 has mounting holes so that the driving end of the robot can be connected to the bottom of the first axis 1 to realize electric control of the execution end of the instrument.

[0098] In this embodiment, the knob 4 and the housing 5 are separated, which can greatly reduce the size of the instrument and avoid collision between the instrument and surrounding structures during use. Especially for surgical robots, it can effectively avoid damage to surgical instruments and improve the performance and safety of surgical robots.

[0099] In an optional embodiment of the present invention, Figures 2 to 9As shown, a limiting boss 102 is provided on the first shaft 1 at the bottom of the first directional section 101. The limiting boss 102 can be an annular boss arranged along the circumference of the first shaft 1. An elastic member 103 is provided on the first directional section 101. When the directional push rod 401 is inserted into the third directional hole 302, the directional push rod 401 pushes the second shaft 2 to slide toward the limiting boss 102, thereby compressing the elastic member 103 in the direction toward the limiting boss 102 (i.e., downward) until one end of the elastic member 103 abuts against the top of the limiting boss 102 and the other end of the elastic member 103 abuts against the bottom of the second shaft 2. The compression of the elastic member 103 provides a restoring force for the second shaft 2 to slide upward. Therefore, when the knob 4 is removed, the elastic member 103 can push the second shaft 2 back to its original position, restoring the circumferential locking state between the second shaft 2 and the drive gear 3. The elastic member 103 can be, but is not limited to, a spring sleeved on the first directional section 101.

[0100] In an optional embodiment of the present invention, Figures 7 to 9 As shown, the vertically arranged second shaft 2 comprises, from top to bottom, a sequentially connected push section 201, a second directional section 202, and a second shaft body section 203. The cross-sectional area of the push section 201 is smaller than that of the second directional section 202. Therefore, when the directional push rod 401 pushes the second shaft 2 to cause the second directional section 202 to slide down and exit the second directional hole 301, at least a portion of the push section 201 slides downward into the second directional hole 301. Because the cross-sectional area of the push section 201 is smaller than that of the second directional section 202, even if a portion of the push section 201 is located within the second directional hole 301, it does not interfere with the rotation of the drive gear 3, thereby ensuring that the drive gear 3 can be smoothly rotated by manually rotating the knob 4. The opening of the first directional hole 205 is located at the bottom of the second shaft 2 and extends along the axis of the second shaft body section 203 into the second shaft body section 203.

[0101] In an optional embodiment of the present invention, Figures 1 to 11 As shown, the knob 4 includes a knob body 402 and a directional push rod 401. The directional push rod 401 is located in the middle of the bottom of the knob body 402, and the top of the directional push rod 401 is connected to the knob body 402. In order to achieve circumferential positioning between the drive gear 3 and the directional push rod 401, the third directional hole 302 can be set as a special-shaped hole (that is, a non-circular hole, the cross section of the third directional hole 302 is non-circular), and the cross section of the directional push rod 401 is matched with the third directional hole 302. That is, the cross section of the directional push rod 401 is also not non-circular and the directional push rod 401 can be just aligned and inserted into the third directional hole 302, thereby achieving the effect of circumferential locking of the knob 4 and the drive gear 3 when the directional push rod 401 is inserted into the third directional hole 302.

[0102] Similarly, the second shaft 2 and the first shaft 1 form a circumferential locking form, and the first directional hole 205 can also be set as a special-shaped hole (that is, a non-circular hole, the cross-section of the first directional hole 205 is non-circular), and at the same time, the cross-section of the first directional section 101 of the first shaft 1 is set to match the first directional hole 205, that is, the cross-section of the first directional section 101 is also not non-circular and the first directional section 101 can be just aligned and inserted into the first directional hole 205, thereby achieving the effect of circumferential locking of the second shaft 2 and the first shaft 1 when the first directional section 101 is inserted into the first directional hole 205.

[0103] Similarly, the second shaft 2 and the driving gear 3 form a circumferential locking form, and the second directional hole 301 can also be set as a special-shaped hole (that is, a non-circular hole, the cross-section of the second directional hole 301 is non-circular), and at the same time, the cross-section of the second directional section 202 of the second shaft 2 is set to match the second directional hole 301, that is, the cross-section of the second directional section 202 is also not non-circular and the second directional section 202 can be just aligned and inserted into the second directional hole 301, thereby achieving the effect of circumferential locking of the second shaft 2 and the driving gear 3 when the second directional section 202 is inserted into the second directional hole 301.

[0104] In an optional embodiment of the present invention, Figures 2 to 5 As shown, the accommodating cavity also includes a driven gear 6, which is located on one side of the driving gear 3. The driven gear 6 is rotatably connected to the inner wall of the housing 5 via a driven shaft 601. The driven shaft 601 is connected to a capstan 12, and one end of the instrument's traction body 11 is disposed on the capstan 12. The outer wall of the driving gear 3 is provided with a circle of driving teeth 303 along its circumference, and the driving teeth 303 mesh with the teeth on the driven gear 6. During the execution of the instrument, the rotation of the driving gear 3 drives the rotation of the driven gear 6 and the driven shaft 601, thereby pulling the traction body 11 to move through the driven shaft 601, thereby controlling the movement of the instrument's execution end.

[0105] Further, such as Figures 2 to 5As shown, the accommodating cavity further includes a transmission gear 7, which is rotatably disposed below the top cover 503. The transmission gear 7 has a coaxially arranged spur gear portion 701 and a helical gear portion 702. The spur gear portion 701 is a straight gear, and the helical gear portion 702 is a helical gear. The helical gear portion 702 is coaxially disposed below the spur gear. The transmission gear 7 is located between the driving gear 3 and the driven gear 6, and the teeth on the spur gear portion 701 are meshed with the driving teeth 303 on the driving gear 3, and the helical gear portion 702 is coaxially disposed below the spur gear. The teeth on the spur gear portion 702 mesh with the teeth on the driven gear 6; the teeth on the spur gear portion 701 and the driving teeth 303 on the driving gear 3 are spur teeth that can cooperate with each other, while the teeth on the helical gear portion 702 and the teeth on the driven gear 6 are helical teeth that can cooperate with each other, so that the axis of the driving gear 3 is perpendicular to the axis of the driven gear 6, changing the direction of power transmission, and then through the rotation of the driven gear 6 and the driven shaft 601, the traction body 11 is pulled to move, thereby realizing the movement control of the execution end of the instrument. Of course, to make the structure simpler, the transmission gear 7 can also be omitted, and the driving gear 3 can rotate directly with the driven gear 6 to realize the control of the movement of the traction body 11.

[0106] In an optional embodiment of the present invention, Figures 8 to 12 As shown, a ratchet 4011 is provided near the knob body 402 on the directional push rod 401, and a plug hole 5031 is provided on the top cover 503. The inner wall of the plug hole 5031 forms a resilient pawl structure 5032 that matches the ratchet 4011. When the directional push rod 401 is inserted into the plug hole 5031, the ratchet 4011 is aligned with the pawl structure 5032, thereby limiting the knob 4 in one direction, safely and effectively avoiding the safety hazards caused by incorrect rotation of the knob 4. In particular, rotating the knob 4 in the wrong direction may cause transmission system abnormalities, such as gear breakage, transmission wire breakage, and damage to the instrument end structure. These abnormalities may cause abnormalities in the transmission structure that controls the action of the instrument's actuator end, making instrument control (such as the control of the stapler's blade retraction and opening) more difficult. Therefore, the provision of this structure can achieve reverse rotation limiting of the knob 4.

[0107] Further, such as Figure 11 As shown, a rotation direction mark 403 is provided on the knob 4, and the rotation direction of the knob 4 can be displayed through the rotation direction mark 403, so that the user can determine the rotation direction of the knob 4 during operation to avoid the occurrence of erroneous operation of reverse rotation.

[0108] In an optional embodiment of the present invention, Figure 7 、 Figure 8 and Figure 10As shown, a first magnetic portion 4012 is provided on the directional push rod 401 near the knob body 402, and a second magnetic portion 304 is provided on the drive gear 3. When the directional push rod 401 is inserted into the third directional hole 302, the first magnetic portion 4012 and the second magnetic portion 304 are magnetically connected, thereby improving the installation stability of the knob 4 and preventing it from being detached. Rotating the knob 4 is smoother, more stable, and more convenient. The first magnetic portion 4012 can be, but is not limited to, a section of an iron core provided on the directional push rod 401, and the second magnetic portion 304 can be, but is not limited to, a magnet capable of attracting the iron core.

[0109] In another optional embodiment of the present invention, Figure 21 As shown, an annular groove 4013 is provided on the outer wall of the directional push rod 401 along its circumference, and an interference sleeve is provided with an anti-slip ring 10 in the groove 4013. When the directional push rod 401 is inserted into the third directional hole 302, the anti-slip ring 10 is pressed between the inner wall of the groove 4013 and the inner wall of the third directional hole 302. The provision of the anti-slip ring 10 can also improve the stability of the installation of the knob 4, prevent the knob 4 from detaching, and make the rotation of the knob 4 smoother, more stable, and more convenient.

[0110] In another optional embodiment of the present invention, Figure 22 and Figure 23 As shown, an annular limiting groove 4014 is provided on the outer wall of the directional push rod 401 along its circumference, and an annular mounting groove 305 is provided on the outer wall of the driving gear 3 along its circumference. The bottom wall of the mounting groove 305 has a mounting hole 306 connected to the third directional hole 302, and a top ball 307 is embedded in the mounting hole 306. The inner wall surface of the mounting hole 306 can be an arc surface, that is, the top ball 307 can be movably embedded in the mounting hole 306, and the mounting hole 306 can limit the top ball 307 inside it without falling out. The third directional hole 302 is provided with a hoop 13 in the installation groove 305, and the hoop 13 pushes the top ball 307 so that at least part of the top ball 307 protrudes from the third directional hole 302. When the directional push rod 401 is inserted into the third directional hole 302, the part of the top ball 307 protruding from the third directional hole 302 is engaged with the limiting groove 4014 on the directional push rod 401, thereby improving the stability of the installation of the knob 4, preventing the knob 4 from detaching, and making the rotation of the knob 4 smoother, more stable, and more convenient.

[0111] In an optional embodiment of the present invention, Figures 1 to 5 、 Figures 17 to 19As shown, a status recognition device 8 is also provided in the accommodating cavity. When the directional push rod 401 is inserted into the third directional hole 302, the downward sliding of the second shaft 2 can trigger the status change of the status recognition device 8 to display the usage status and / or number of uses of the instrument, thereby confirming whether the instrument is in a scrapped state, effectively avoiding the reuse of scrapped instruments and ensuring the safety of the instrument.

[0112] Specifically, such as Figures 17 to 19 As shown, the state recognition device 8 includes a circuit board substrate 801, a micro switch 802 and a spring pin 803. The micro switch 802 and the spring pin 803 are both arranged on the top surface of the circuit board substrate 801. The micro switch 802 is connected to the spring pin 803 through a circuit. When the directional push rod 401 is inserted into the third directional hole 302, the micro spring 8021 on the micro switch 802 is triggered to change the on-off state of the circuit between the micro switch 802 and the spring pin 803, thereby changing the ejection state of the spring pin 803. Figure 20 As shown, there is a pin hole on the bottom plate 502 which is opposite to the pin 803. When the micro switch 802 is triggered, the end of the pin 803 will pop out of the pin hole. In actual use, whether the micro switch 802 is triggered can be determined by identifying the pop-up state of the pin 803 in the pin hole, thereby knowing the state change of the device.

[0113] In this embodiment, if Figure 18 As shown, the two spring pins 803 can be connected through a line, and a micro switch 802 is set on the line. The on and off of the line is controlled by the micro switch 802. A recording chip 804 (which can be an encryption chip) is set on the line to record the usage status or number of times the instrument is used when the micro spring 8021 is triggered. Alternatively, in the two elastic needles 803, one elastic needle 803 has two circuits in parallel, one circuit is provided with the above-mentioned recording chip 804, and the other circuit may or may not be provided with a resistor. The micro switch 802 is connected between the two elastic needles 803, and the micro switch 802 can switch different circuits to connect the elastic needles 803. For example, when the micro switch 802 is not triggered, the circuit connecting the two elastic needles 803 is provided with a recording chip 804, and when the micro switch 802 is triggered, the micro switch 802 switches the circuit with the recording chip 804 to a circuit without the recording chip 804 or a circuit with only a resistor, thereby changing the resistance of the circuit connecting the two elastic needles 803. At this time, the recording chip 804 can record the service life information of the instrument once.

[0114] Of course, two parallel circuits can also be provided between the microswitch 802 and one of the spring pins 803. The microswitch 802 can switch the two circuits, and a recording chip 804 is provided on each of the two circuits. When the microswitch 8021 is triggered, the two recording chips 804 can respectively record the usage status or number of times the device is used. For example, when the microswitch 802 is triggered, one recording chip 804 can record the device's service life information for one time, while the other recording chip 804 can record the device's service life information for zero times.

[0115] In an optional embodiment of the present invention, Figures 1 to 5 、 Figure 13 and Figure 14 As shown, a guide trigger device 9 and a middle base plate 504 are further provided in the accommodating cavity. The guide trigger device 9 includes a guide body 901 and a fixing ring 903, a guide rod 902 and a top rod 904 provided on the guide body 901. A fixing groove 204 is provided on the lower outer wall of the second shaft 2. A guide groove 5042 is provided on the middle base plate 504. The fixing ring 903 is sleeved in the fixing groove 204. The guide rod 902 is embedded in the guide groove 5042 so as to slide up and down. The top of the rod 904 is connected to the bottom of the guide body 901, and the bottom of the push rod 904 can pass through the middle base plate 504 and extend to the bottom of the middle base plate 504; during use, when the directional push rod 401 pushes the second shaft 2 to move downward, the fixing ring 903 is connected with the fixing groove 204, so that the downward movement of the second shaft 2 can drive the guide trigger device 9 to move downward synchronously, and then the push rod 904 moves down to its bottom to trigger the micro-spring 8021 on the micro-switch 802.

[0116] Further, such as Figures 13 to 16 As shown, the guide body 901 is provided with an indicator 907 that displays the different usage states of the instrument. The housing 5 has a status display window 5011. By moving the guide trigger device 9 up and down, different indicator marks 907 can be aligned with the status display window 5011. During use, the corresponding different indicator marks 907 on the status display window 5011 can be used to intuitively know whether the instrument is in a scrapped state, thereby ensuring that the scrapped instrument cannot be reused, effectively avoiding the misuse of problematic instruments and improving the safety of the surgical process. The indicator mark 907 can be in Chinese or English, or in a color. For example, the indicator mark 907 corresponding to the usable status of the instrument can be "1 time", "valid", "normal instrument" or a green pattern, while the indicator mark 907 corresponding to the scrapped status of the instrument can be "0 times", "scrapped", "invalid", "cannot be reused" or a red pattern. The specific form of the indicator mark 907 is not limited here, and the different usage states of the instrument can be distinguished by the changes in the indicator mark 907.

[0117] Further, such as Figure 13 and Figure 14 As shown, a first clamping block 905 is provided on the guide body 901, and a second clamping block 5043 is provided on the top of the middle base plate 504. When the directional pushing rod 401 pushes the second shaft 2 downward to the preset position, the first clamping block 905 and the second clamping block 5043 cooperate and engage with each other, so that the downward position of the second shaft 2 can be kept unchanged during the debugging and maintenance of the equipment.

[0118] Further, such as Figure 13 and Figure 14 As shown, the guide body 901 is further provided with a first shift block 906 and / or a second shift block 5044 on one side of the second clamping block 5043. By shifting the first shift block 906 and / or the second shift block 5044, the first clamping block 905 can be separated from the second clamping block 5043, thereby resetting the second shaft 2 under the action of the elastic member 103.

[0119] In another optional embodiment of the present invention, Figures 24 to 28 As shown, the knob 4 can be rotatably connected to the housing 5. A manual gear 405 is provided at the bottom of the knob 4. The teeth on the manual gear 405 mesh with the drive teeth 303 on the drive gear 3. Rotating the knob 4 can drive the drive gear 3 to rotate. In this embodiment, the instrument safety device also includes a release lever 14. The housing 5 has a release hole 505 at a position vertically opposite the guide trigger device 9. When it is necessary to manually provide torque to the drive gear 3, one end of the release lever 14 can be extended into the accommodating cavity through the release hole 505 and push the guide trigger device 9 downward. Since the guide trigger device 9 is connected to the second shaft 2, the downward movement of the guide trigger device 9 will also drive the second shaft 2 downward, thereby causing the second directional section 202 to exit the second directional hole 301. At this time, the circumferential lock formed between the second shaft 2 and the drive gear 3 is released. Rotating the knob 4 can drive the drive gear 3 to rotate, thereby controlling the movement of the traction body 11.

[0120] Of course, the release lever 14 can depress the guide trigger device 9 to cause the second directional segment 202 to exit the second directional hole 301. Alternatively, a release hole can be provided in the knob 4, the release hole being vertically opposite to the third directional hole 302 on the drive gear 3. By inserting the release lever 14 into the release hole, the release lever 14 can directly push the second directional segment 202 of the second shaft 2 out of the second directional hole 301, thereby releasing the circumferential lock formed between the second shaft 2 and the drive gear 3. There are various specific ways to push the second directional segment 202 of the second shaft 2 out of the second directional hole 301, which are not listed here.

[0121] Further, such as Figure 27and Figure 28 As shown, the guide body 901 extends vertically upward and is provided with a toothed insert 908 at its top. The bottom edge of the knob 4 is provided with multiple toothed slots 404 along its circumference. When the release lever 14 is not pushing the guide trigger mechanism 9 downward, the toothed inserts 908 enter the vertically opposing toothed slots 404, thereby limiting the rotation of the knob 4 and preventing misoperation. When the release lever 14 pushes the guide trigger mechanism 9 downward, the toothed inserts 908 move downward and out of the toothed slots 404, releasing the rotation restriction on the knob 4. At this point, the actuator movement of the instrument can be controlled by rotating the knob 4.

[0122] The specific operation process of the device safety device of the present invention is as follows: Figure 31 As shown, when the instrument is ready to be removed from the surgical robot, the torque is first provided by the driving shaft of the surgical robot to open the jaws of the machine. At this time, it can be determined whether the opening torque required to open the jaws is abnormal. If it is detected that the required opening torque does not exceed the preset upper limit threshold, it means that the jaws can be opened normally. At this time, the jaws can be opened by controlling the surgical robot. In this process, the instrument can be identified as a "normal stapler" state, and the usage state does not change. The instrument can be used again in the on-site surgery; if it is detected that the required opening torque exceeds the preset upper limit threshold, it means that the jaws cannot be opened normally. At this time, it is necessary to cut off the torque transmission between the driving shaft of the surgical robot and the driving gear 3, and switch to manually rotating the knob 4 to control the execution end of the instrument; but after completion Before the switch is completed, the screen displays the instruction message "Wait until the guide rod is pressed down, do not pull out the instrument" to avoid premature pulling out of the instrument and causing harm to the patient; when the directional pushing rod 401 or the release rod 14 pushes the second shaft 2 downward, the micro switch 802 is triggered to change the instrument identification state, that is, the original identification of "normal stapler" is switched to identification as "scrapped stapler". The instrument will not be able to be used again in the on-site surgery, and the screen will display the instruction message "You can manually rotate the knob to retract the knife, do not pull out the instrument in the middle, wait until the manual knob is turned to open the jaws before pulling out the instrument". At this time, you can rotate the knob 4 and observe whether the jaws are opened until the jaws of the instrument are open and no longer clamp the tissue. Only then can the instrument be removed, and the removed instrument is a scrapped instrument and will not be used again in the on-site surgery.

[0123] The features and advantages of the device safety device of the present invention are:

[0124] 1. This instrument safety device can disconnect the power transmission from the robot drive shaft to the traction body 11, and realize the torque transmission by manually rotating the knob 4, thereby achieving the purpose of manual control of the traction body 11, so that the instrument can complete the retraction and opening of the knife without moving, avoiding the traction of the clamped tissue and ensuring the safety of the operation.

[0125] Second, in the instrument safety device, the knob 4 can be separated from the instrument body, which can reduce the size of the instrument, avoid collision between the instrument and surrounding structures during surgery, ensure the use status of the instrument, and improve the performance of the surgical robot.

[0126] 3. In the safety device of the device, the knob 4 and the housing 5 are aligned with each other through the ratchet 4011 and the pawl structure 5032, which can limit the knob 4 in one direction, thereby safely and effectively avoiding the safety hazards caused by the wrong rotation direction of the knob 4.

[0127] 4. During use, the instrument safety device can intuitively display the use status of the instrument through the indicator mark 907 on the shell 5. In addition, through the setting of the state recognition device 8, the robot can identify the use status of the instrument and provide display and operation instructions on the UI interface, making the surgical operation more intelligent and convenient, ensuring that scrapped instruments cannot be used during the on-site surgery, and ensuring the safety of the operation.

[0128] Implementation Method 2

[0129] like Figure 29 As shown, the present invention provides a surgical instrument, which includes the above-mentioned instrument safety device 100, an instrument rod 200 and an actuator 300. The proximal end of the instrument rod 200 is connected to the instrument safety device 100, and a traction body 11 is passed through the instrument rod 200; the actuator 300 is arranged at the distal end of the instrument rod 200, and the action end of the actuator 300 is connected to the driving gear 3 in the instrument safety device 100 through the traction body 11.

[0130] In the present invention, the surgical instrument may be, but is not limited to, a stapler. A first-direction wrist and a second-direction wrist are provided at the stapler's execution end, a first tool pliers blade is connected to the first-direction wrist, a second tool pliers blade is connected to the second-direction wrist, and the first-direction wrist is hinged to the instrument rod 200, and the first-direction wrist is connected to the traction body 11. The traction body 11 can drive the first-direction wrist to rotate relative to the second-direction wrist, thereby realizing the opening and closing action of the stapler's execution end. At the same time, the instrument rod 200 and the traction body 11 can rotate relative to the housing 5 to change the orientation of the stapler's execution end, thereby allowing the stapler's execution end to perform a combined movement in four directions: up, down, left, and right relative to the instrument rod 200.

[0131] During use, the staple cartridge can be mounted on the stapler's execution end to perform an anastomosis operation. The mounting method and structure of the staple cartridge are already known in the art and are not limited thereto.

[0132] During use, the knob 4 is used when the stapler cannot be retracted and the jaws cannot be opened normally. By rotating the knob 4, the action of retracting the knife and opening the end jaws can be completed to ensure the normal withdrawal of the surgical instrument.

[0133] The surgical instrument of the present invention has the same features and advantages as the above-mentioned instrument safety device, which will not be described in detail here.

[0134] Implementation Method 3

[0135] like Figure 30 As shown, the present invention provides a surgical robot system, which includes a surgical robot 2000. The surgical robot 2000 has a robotic arm 2001. The above-mentioned surgical instrument 1000 can be detachably mounted on the end of the robotic arm 2001.

[0136] In the present invention, Figure 30 As shown, the surgical robot system also includes a control trolley 3000, which is equipped with a control system and a master operator. The doctor can use the master operator to remotely control the surgical instrument 1000, thereby performing minimally invasive surgery on the patient. The master operator and the surgical instrument 1000 on the robotic arm 2001 form a master-slave control relationship. During the operation, the surgical instrument 1000 moves according to the movement of the master operator, that is, the surgical instrument 1000 moves according to the doctor's operation of the master operator. Furthermore, the master operator also receives information about the force exerted by human tissues and organs on the surgical instrument and feeds it back to the doctor's hand, allowing the doctor to more intuitively experience the surgical operation.

[0137] In the present invention, Figure 30 As shown, the surgical robot system further includes an imaging vehicle 4000 , on which an image display device is provided to display the position of the surgical instrument 1000 in human tissue during surgery.

[0138] Among them, the surgical robot 2000 is a movable operating table cart, and the operating table, control console cart 3000 and imaging cart 4000 can all be moved to preset positions as needed.

[0139] Further, such as Figure 30 As shown, the surgical robot system further includes a movable tool cart 5000 , on which a plurality of surgical instruments 1000 can be placed so that scrapped surgical instruments 1000 can be replaced in a timely manner.

[0140] Furthermore, the surgical robot 2000 has at least one imaging arm, i.e., an endoscope is mounted on the end of at least one robotic arm 2001, which uses the endoscope to obtain surgical environment information such as human tissues and organs, surgical instruments, blood vessels, and body fluids. The endoscope and surgical instruments 1000 are respectively inserted into the patient's body through an incision.

[0141] The surgical robot system of the present invention has the same features and advantages as the above-mentioned instrument safety device, which will not be described in detail here.

[0142] Implementation Method 4

[0143] like Figure 32 As shown, the present invention provides a method for using an instrument safety device, which uses the above-mentioned instrument safety device 100 to detect a surgical instrument 1000. The method for using the instrument safety device includes the following steps:

[0144] Step S1: Installing the surgical instrument 1000 on the surgical robot 2000;

[0145] Step S2: Detecting whether the torque of the first shaft 1 in the device safety device 100 is lower than a preset threshold when closing the actuator 300;

[0146] Step S3: If the torque of the first shaft 1 is lower than the preset threshold, the surgical instrument 1000 is abnormal and cannot be used; if the torque of the first shaft 1 is not lower than the preset threshold, the surgical instrument 1000 can be used normally.

[0147] This method determines whether the surgical instrument 1000 can be used normally by detecting whether the torque of the first shaft 1 is normal. During the detection process, the torque is provided by the output shaft of the robot, and the torque provided by the output shaft of the robot is detected. If the second shaft 2 and the drive gear 3 are released from the circumferential lock, the driving torque provided by the output shaft of the robot will be smaller, and when the second shaft 2 and the drive gear 3 are circumferentially locked, the driving torque provided by the output shaft of the robot will be larger, so as to determine whether the instrument can be used normally.

[0148] Implementation Method Five

[0149] like Figure 33 As shown, the present invention provides a method for using an instrument safety device, which uses the above-mentioned instrument safety device 100 to detect a surgical instrument 1000. The method for using the instrument safety device includes the following steps:

[0150] Step S1 ′: installing the surgical instrument 1000 on the surgical robot 2000 ;

[0151] Step S2 ′: detecting the usage information recorded by the recording chip 804 in the device safety device 100 ;

[0152] Step S3': judging whether the surgical instrument 1000 can be used normally according to the usage information;

[0153] In step S3 ′, if the surgical instrument 1000 has been used or has reached the usage count, the surgical instrument 1000 is abnormal and cannot be used; if the surgical instrument 1000 has not been used or has not reached the usage count, the surgical instrument 1000 can be used.

[0154] If the surgical instrument 1000 has been used or the number of uses is recorded as 0, the surgical instrument 1000 is abnormal and cannot be used; if the surgical instrument 1000 has not been used or the number of uses is recorded as 1, the surgical instrument 1000 can be used.

[0155] Through the methods in the above-mentioned embodiments 4 and 5, it is possible to accurately detect whether the surgical instrument 1000 can be used normally, and display and operation instructions can be given on the UI interface, making the surgical operation more intelligent and more convenient, ensuring that scrapped instruments cannot be used during the on-site surgery, and ensuring the safety of the operation.

[0156] The above are only a few embodiments of the present invention. Although the embodiments disclosed in the present invention are as above, the contents are only for the purpose of facilitating understanding of the present invention and are not intended to limit the present invention. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. An equipment safety device, characterized in that: include: A first shaft, the first shaft being connected to a driving end of the robot; a second shaft connected to the first shaft in an axially slidable and circumferentially locked manner; A driving gear, the driving gear being connected to a traction body that drives the execution end of the instrument; A knob, wherein the knob is provided with a directional push rod; The driving gear has a first driving state and a second driving state. When the driving gear is in the first driving state, at least a portion of the second shaft extends into the directional hole on the driving gear, and the second shaft and the driving gear can be axially slidable and circumferentially locked. The driving gear is driven to rotate through the driving end of the robot, the first shaft and the second shaft in sequence; when the driving gear is in the second driving state, the directional pushing rod is inserted into the directional hole and forms a circumferential lock with the driving gear, pushing the second shaft to slide axially relative to the driving gear until the circumferential lock between the second shaft and the driving gear is released, and the driving gear is driven to rotate by rotating the knob.

2. The device safety device according to claim 1, wherein: At least a portion of said first axis forms a first orientation segment; At least a portion of the second shaft forms a connected second orientation section and a push section, the second shaft has a first orientation hole, at least a portion of the first orientation section can be axially slidably inserted into the first orientation hole, and the second shaft is circumferentially locked to the first shaft; The directional hole includes a second directional hole and a third directional hole that are intersecting each other, the second directional section can be slidably inserted into the second directional hole, and the second shaft and the driving gear are circumferentially locked, and the pushing section can pass through the second directional hole and extend into the third directional hole; When the directional pushing rod is not inserted into the third directional hole, the directional pushing rod is circumferentially locked with the driving gear, and the driving end of the robot can sequentially drive the first shaft, the second shaft and the driving gear to rotate, thereby driving the instrument to move through the driving end of the robot; when the directional pushing rod is inserted into the third directional hole, the directional pushing rod pushes the pushing section to make the second directional section exit the second directional hole, and the knob can drive the driving gear to rotate, thereby driving the instrument to move through the knob.

3. The device safety device according to claim 1, wherein: The device safety device comprises a housing, the housing comprising a side wall portion, a bottom plate, and a top cover, the bottom plate and the top cover being respectively disposed at the bottom and top of the side wall portion to enclose a receiving cavity between the side wall portion, the bottom plate, and the top cover, the first shaft, the second shaft, and the driving gear being all located within the receiving cavity, and the bottom of the first shaft being rotatable in the circumferential direction and axially positioned on the bottom plate; A middle base plate is provided in the accommodating cavity, the second shaft and the driving gear are both located above the middle base plate, and the middle base plate has a through hole, through which at least part of the first shaft can pass and be inserted into the directional hole.

4. The device safety device according to claim 1, wherein: The first shaft has a limiting boss and an elastic member is provided on the first shaft. When the directional push rod is inserted into the directional hole, the directional push rod pushes the second shaft to slide in the direction close to the limiting boss to compress the elastic member until both ends of the elastic member respectively abut against the limiting boss and the bottom of the second shaft.

5. The device safety device according to claim 3, wherein: A driven gear is provided in the accommodating cavity, and the driven gear is rotatably connected to the inner wall of the outer shell through a driven shaft. A capstan is connected to the driven shaft, and one end of the traction body of the device is arranged on the capstan. The driving teeth on the outer wall of the driving gear are engaged with the teeth on the driven gear.

6. The device safety device according to claim 3, wherein: A ratchet is provided on the directional push rod, and a plug hole is provided on the top cover. The inner wall of the plug hole forms a pawl structure that is adapted to the ratchet and has elasticity, so as to limit the knob in one direction when the directional push rod is inserted into the plug hole.

7. The device safety device according to claim 1, wherein: The directional push rod is provided with a first magnetic attraction portion, and the driving gear is provided with a second magnetic attraction portion. When the directional push rod is inserted into the directional hole, the first magnetic attraction portion is magnetically connected to the second magnetic attraction portion; Alternatively, a slot is provided on the outer wall of the directional push rod, and an interference sleeve is provided in the slot with an anti-slip ring, and when the directional push rod is inserted into the directional hole, the anti-slip ring is pressed between the inner wall of the slot and the inner wall of the directional hole; Alternatively, a limiting groove is provided on the outer wall of the directional pushing rod, a mounting groove is provided on the outer wall of the driving gear, a mounting hole connected to the directional hole is provided on the bottom wall of the mounting groove, a top ball is embedded in the mounting hole, a hoop is sleeved in the mounting groove, and the hoop pushes the top ball so that at least part of the top ball protrudes from the directional hole. When the directional pushing rod is inserted into the directional hole, the part of the top ball protruding from the directional hole is engaged in the limiting groove.

8. The device safety device according to claim 1, wherein: The instrument safety device also includes a state recognition device. When the directional push rod is inserted into the directional hole, the sliding of the second shaft triggers the state of the state recognition device to change, so as to display the use status and / or number of uses of the instrument.

9. The device safety device according to claim 8, wherein: The state identification device includes a circuit board substrate, a micro switch and a spring needle. The micro switch and the spring needle are both arranged on the circuit board substrate. The micro switch is connected to the spring needle through a circuit. When the directional ejection rod is inserted into the directional hole, the micro spring on the micro switch is triggered to change the on-off state of the circuit between the micro switch and the spring needle, thereby changing the pop-up state of the spring needle.

10. The device safety device according to claim 9, wherein: A recording chip is provided on one of the lines connecting the micro switch and the spring needle, so as to record the use status or the number of times the device is used when the micro switch spring is triggered; Alternatively, two circuits are provided between the micro switch and the spring needle, and the micro switch can switch the two circuits to conduct, and recording chips are provided on the two circuits respectively to record the usage status or usage times of the device when the micro spring is triggered.

11. The device safety device according to claim 9, wherein: The instrument safety device comprises a housing, a guide trigger device and a middle base plate are arranged in the housing, the guide trigger device comprises a guide body, a fixing ring, a guide rod and a push rod arranged on the guide body, a fixing groove is provided on the lower outer wall of the second shaft, the middle base plate is provided with a guide groove, the fixing ring is sleeved in the fixing groove, the guide rod can be slidably embedded in the guide groove up and down, the top of the push rod is connected to the bottom of the guide body, and the bottom of the push rod can pass through the middle base plate and extend below the middle base plate; When the directional push rod pushes the second shaft to move downward, the second shaft drives the guide trigger device to move downward synchronously, so that the bottom of the push rod triggers the micro-spring on the micro-switch.

12. The device safety device according to claim 11, wherein: The guide body is provided with indicator marks showing different usage states of the device, and the shell is provided with a state display window. The guide trigger device is moved up and down so that different indicator marks are opposite to the state display window.

13. A surgical instrument, characterized in that: The surgical instrument comprises: The device safety device according to any one of claims 1 to 12; An instrument rod, the proximal end of which is connected to the instrument safety device, and a traction body is inserted into the instrument rod; An actuator assembly is provided at the distal end of the instrument rod, and an action end of the actuator assembly is connected to a driving gear in the instrument safety device through the traction body.

14. A method for using an instrument safety device, wherein the method uses the instrument safety device according to any one of claims 1 to 12 to detect surgical instruments, wherein: The method of use comprises the following steps: installing the surgical instrument on a surgical robot; detecting whether the torque of the first shaft in the device safety device is lower than a preset threshold when closing the actuator; If the torque of the first shaft is lower than the preset threshold, the surgical instrument is abnormal and cannot be used; if the torque of the first shaft is not lower than the preset threshold, the surgical instrument can be used normally.

15. A method for using an instrument safety device, wherein the method uses the instrument safety device according to any one of claims 1 to 12 to detect surgical instruments, wherein: The method of use comprises the following steps: installing the surgical instrument on a surgical robot; detecting usage information recorded by a recording chip in the device safety device; judging whether the surgical instrument can be used normally according to the usage information; If the surgical instrument has been used or has reached the number of times it has been used, the surgical instrument is abnormal and cannot be used; if the surgical instrument has not been used or has not reached the number of times it has been used, the surgical instrument can be used.

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