Surgical robot end executive device and power box

Abstract

The application of the invention is a divisional application of the Chinese application 202411545374.1. The embodiment of the invention provides a surgical robot end executive device and a power box. The end executive device of the surgical robot comprises a power box which is provided with a power box top plate, an information reader is arranged in the power box, the information reader is provided with a first antenna, and the first antenna surrounds a first shaft hole of the power box top plate; the isolation plate is detachably arranged on the power box; the surgical instrument is detachably arranged on the isolation plate, the surgical instrument is provided with a first transmission shaft, the position of the first transmission shaft corresponds to that of the first shaft hole, the first transmission shaft is provided with an information storage label, the information storage label is provided with a second antenna, and the second antenna is arranged on the first transmission shaft; and along the axial direction of the first shaft hole, a signal transmission path between the first antenna and the second antenna is in signal conduction. And the stability and the accuracy of reading the information of the surgical instrument are improved.

Description

[0001] This application is a divisional application of the Chinese application "Surgical robot end execution device and surgical robot" with the application date of October 31, 2024 and the application number of 202411545374.1. TECHNICAL FIELD

[0002] The present application relates to the technical field of medical devices, in particular to a surgical robot end execution device and a surgical robot. BACKGROUND

[0003] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used for its small surgical trauma, short recovery time and less patient pain. Among them, the minimally invasive surgical robot has the characteristics of high dexterity, high control precision and intuitive surgical image, which can avoid the operation limitations such as hand tremor during filtering operation, and is widely used in abdominal, pelvic and thoracic surgical areas.

[0004] The minimally invasive surgical robot includes a master control console and a slave manipulator arm. The master control console collects the operation signals of the doctor, which are processed by the control system to generate the control signals of the slave manipulator arm, and the surgical operation is executed by the slave manipulator arm. A sliding table assembly is arranged on the slave manipulator arm, a power box is arranged on the sliding table assembly, and an isolation plate and a surgical instrument are detachably connected to the power box, so as to control the opening and closing, deflection, pitching, rotation and other actions of the execution end of the instrument. Before the power box provides the movement power of the execution end, the input of the surgical instrument information needs to be completed through program control, such as reading the product serial number of the surgical instrument, detecting the clamping state, and writing the number of uses.

[0005] The common way of reading and writing surgical instrument information is the Radio Frequency Identification (RFID) method and the physical probe transmission method. Among them, the RFID method usually includes an electronic tag and a scanner. The tag is installed on the surgical instrument, and the scanner is installed inside the power box; when the surgical instrument is clamped to the power box, the scanner reads the instrument information in the tag, so as to determine the corresponding instrument parameters. In the case that there is a metal layer between the electronic tag and the scanner, the signal emitted by the scanner is easily blocked or reflected, affecting the reading of the signal stored in the electronic tag; in order to ensure the reading accuracy, the scanner is large in size and requires to be as close as possible to the electronic tag, which is not conducive to the layout of the structure.

[0006] In the related art, for example, Chinese invention patent CN106102638B discloses a signal connector for a sterile barrier between a surgical instrument and a remote operation brake. In order to improve the signal reading accuracy and reduce the space occupation of RFID, the scanner is arranged on the protrusion at the "ear" position of the power box, and the corresponding "ear" of the isolation plate bottom plate is hollowed out to form a through hole. During assembly, the scanner is inserted into the corresponding through hole of the isolation plate bottom plate, so that the scanner is closer to the electronic tag of the surgical instrument.

[0007] However, the "ear" space of the power box is limited, resulting in a smaller size of the RFID chip and antenna, limiting the antenna power, and shortening the identification distance, which may cause unstable and low accuracy of signal reading / writing. SUMMARY

[0008] The embodiments of the present application provide a surgical robot end execution device and a surgical robot, which can increase the size of the RFID chip and antenna, improve the antenna power, and improve the stability and accuracy of reading / writing information of the surgical instrument.

[0009] In one aspect, the embodiments of the present application provide a surgical robot end execution device, comprising:

[0010] a power box having a power box top plate, an information reader being arranged in the power box, the information reader having a first antenna, the first antenna being arranged around a first shaft hole of the power box top plate;

[0011] an isolation plate being detachably arranged on the power box;

[0012] a surgical instrument being detachably arranged on the isolation plate, the surgical instrument having a first transmission shaft, the position of the first transmission shaft corresponding to the first shaft hole, an information storage tag being arranged on the first transmission shaft, the information storage tag having a second antenna, the second antenna being arranged on the first transmission shaft;

[0013] wherein, along the axial direction of the first shaft hole, the signal transmission path between the first antenna and the second antenna is signal-conductive.

[0014] In one implementation, the power box top plate further has a second shaft hole, the first shaft hole being located at the middle of the power box top plate, and the second shaft hole being arranged along the circumferential direction of the first shaft hole.

[0015] In one implementation, a first power output disc is arranged in the first shaft hole, the first power output disc being configured to transmit power to the first transmission shaft; the first power output disc is a non-metallic piece.

[0016] In one implementation, a mounting disc is arranged in the first shaft hole, and the first antenna is arranged on the mounting disc.

[0017] The mounting disc has a through hole, and the first power output disc is arranged in the through hole.

[0018] In an implementation, the first antenna is arranged on a side of the mounting disc facing away from the isolation plate, and the mounting disc is a non-metallic piece.

[0019] In an implementation, the power box has a circuit board arranged therein, and the information reader comprises a reader body arranged on the circuit board, and the first antenna is connected to the reader body.

[0020] In an implementation, the first transmission shaft is arranged in a third shaft hole of a bottom plate of the instrument box of the surgical instrument; the first transmission shaft comprises:

[0021] a first shaft rod configured to transmit power to the end effector;

[0022] a second shaft rod arranged in the third shaft hole, the second shaft rod being sleeved on an outer periphery of the first shaft rod and fixed to the first shaft rod along a circumferential direction of the first shaft rod; the information storage tag is arranged on the second shaft rod; and the second shaft rod is a non-metallic piece.

[0023] In an implementation, the third shaft hole comprises a first hole section and a second hole section, the second hole section being located on a side of the first hole section facing away from the instrument box along an axial direction of the third shaft hole; a hole diameter of the second hole section is greater than a hole diameter of the first hole section, so as to form a limiting step between the second hole section and the first hole section; the second shaft rod comprises:

[0024] a shaft rod body sleeved on an outer periphery of the first shaft rod and arranged in the first hole section;

[0025] a power input disc arranged at an end of the shaft rod body away from the first shaft rod; the limiting step is configured to limit axial displacement of the second shaft rod in the second hole section of the power input disc; and the information storage tag is arranged on the power input disc.

[0026] In an implementation, the second antenna is annular, the second antenna is sleeved on the shaft rod body, and the second antenna is attached to the power input disc; the second antenna is fixedly connected to the second shaft rod along a circumferential direction of the second shaft rod.

[0027] In an implementation, a side of the power input disc facing the shaft rod body is provided with a boss, and the second antenna is sleeved on an outer periphery of the boss.

[0028] One of a circumferential wall of the boss and an inner wall of the second antenna is provided with a recess, and the other of the circumferential wall of the boss and the inner wall of the second antenna is provided with a protrusion; the protrusion is embedded in the recess, so as to limit the second antenna and the second shaft rod along a circumferential direction of the second shaft rod.

[0029] In an implementation, the outer periphery of the shaft body is sleeved with a gasket, one end of the gasket is pressed against at least one of the boss and the second antenna, and the other end of the gasket is in abutment with the instrument box bottom plate.

[0030] In an implementation, the gasket is arranged in the first hole section and extends to the second hole section, so that there is a gap between the second antenna and the limiting step.

[0031] And / or, along the axial direction of the second shaft, the thickness of the boss is greater than the thickness of the second antenna, the gasket is pressed against the boss, and the second antenna is fixed to the power input disc.

[0032] In an implementation, the power input disc is provided with a groove, the information storage label includes a storage chip, and the storage chip is arranged on the second antenna; the storage chip is accommodated in the groove.

[0033] In another aspect, the embodiments of the present application provide a surgical robot, comprising:

[0034] a master control console;

[0035] a slave operating arm in communication connection with the master control console;

[0036] The end effector device provided by the foregoing embodiments of the present application is arranged on the slave operating arm.

[0037] The surgical robot end effector device and the surgical robot provided by the embodiments of the present application have the following beneficial effects: the first antenna of the information reader is arranged around the first shaft hole of the power box top plate, so that the space of the first shaft hole can be fully utilized, the first antenna has sufficient arrangement space, and the size of the first antenna can be improved; the surgical instrument is arranged on the isolation plate arranged on the power box, the first transmission shaft of the surgical instrument is arranged in correspondence with the first shaft hole, so that the power box can conveniently transmit power to the first transmission shaft through the first shaft hole; the second antenna of the information storage label is arranged on the second transmission shaft, so that the size of the second antenna can be increased, thereby increasing the mutual inductive area between the first antenna and the second antenna; in addition, along the axial direction of the first shaft hole, the signal transmission path between the first antenna and the second antenna is signal-conductive, that is, there is no signal shielding element between the first antenna and the second antenna, and communication between the first antenna and the second antenna is facilitated; compared with the related art, the size of the first antenna and the second antenna can be improved, the power of the first antenna and the second antenna is improved, and the stability and accuracy of reading / writing information from the information storage label by the information reader are improved.

[0038] In addition, in the embodiment of the present application, the first antenna of the information reader is arranged around the first shaft hole, and the second antenna of the information storage label is arranged on the first transmission shaft. In this way, the first antenna does not need to occupy the space of the "ear" of the power box, and the second antenna does not need to occupy the space of the "ear" of the instrument box, so as to facilitate the arrangement of other signal transmission channels between the power box and the instrument box. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 is a schematic diagram of the overall structure of the surgical robot end execution device provided by some embodiments of the present application;

[0041] Figure 2 is a schematic diagram of the exploded structure of the surgical robot end execution device provided by some embodiments of the present application;

[0042] Figure 3 is a schematic diagram of the internal structure of the power box in the surgical robot end execution device provided by some embodiments of the present application;

[0043] Figure 4 is a schematic diagram of the structure of the instrument box in the surgical robot end execution device provided by some embodiments of the present application;

[0044] Figure 5 is a schematic diagram of the structure of the cooperation between the top plate of the power box and the first antenna in the surgical robot end execution device provided by some embodiments of the present application;

[0045] Figure 6 is a schematic diagram of the structure of the circuit board in the surgical robot end execution device provided by some embodiments of the present application;

[0046] Figure 7 is a schematic diagram of the cooperation between the first transmission shaft and the bottom plate of the instrument box in the surgical robot end execution device provided by some embodiments of the present application;

[0047] Figure 8 is a schematic diagram of the exploded structure of the cooperation between the first transmission shaft and the bottom plate of the instrument box in the surgical robot end execution device provided by some embodiments of the present application;

[0048] Figure 9 is a sectional view of the cooperation between the first transmission shaft and the bottom plate of the instrument box in the surgical robot end execution device provided by some embodiments of the present application;

[0049] Figure 10 is Figure 9 is a local enlarged view of A in FIG. 1;

[0050] Figure 11 is a structural schematic diagram of a second shaft rod in a surgical robot end effector provided by some embodiments of the present application;

[0051] Figure 12 is a structural schematic diagram of an information storage label in a surgical robot end effector provided by some embodiments of the present application.

[0052] Explanation of reference signs:

[0053] 10 - end effector

[0054] 100 - power box; 200 - isolation plate; 300 - surgical instrument

[0055] 110 - power box body; 120 - power box top plate; 210 - transmission disc; 310 - instrument box; 320 - instrument box bottom plate; 330 - elongated shaft; 340 - first transmission shaft; 350 - information storage label

[0056] 111 - first antenna; 112 - fixed plate; 113 - drive motor; 114 - circuit board; 121 - first shaft hole; 122 - first power output disc; 123 - mounting disc; 124 - second power output disc; 321 - third shaft hole; 341 - first shaft rod; 342 - second shaft rod; 351 - second antenna; 352 - storage chip

[0057] 1141 - first through hole; 1142 - second through hole; 1231 - through hole; 3211 - first hole section; 3212 - second hole section; 3213 - limiting step; 3421 - shaft rod body; 3422 - power input disc; 3423 - boss; 3424 - recessed part; 3425 - gasket; 3426 - groove; 3511 - protruding part DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0059] In this specification, some places explain many specific technical details. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description should not be considered as limiting, and the protection scope of the present application is only limited by the claims. In other places, well-known structures, circuits and other details are not described in detail to avoid misunderstanding of the gist of the present application by the public.

[0060] In this specification, the drawings illustrate embodiments of the application in schematic form. However, the drawings are merely schematic and it is understood that other embodiments or combinations can be utilized and that mechanical, physical, electrical and procedural changes can be made without departing from the spirit and scope of the application.

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

[0062] As used herein, the terms "a number of", "one", and "the" are intended to include both singular and plural unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", or "includes" and / or "including" when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0063] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "piece", and "piece" are used interchangeably.

[0064] The terms "instrument," "surgical instrument," and "surgical instruments" are used herein to describe medical devices configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, including end effector instruments. End effector instruments can be surgical tools related to one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used by embodiments of the present application further provide articulated supports (sometimes referred to as "wrist") for the surgical tools, so that the position and orientation of the end effector instruments can be manipulated in one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effector instruments include functional mechanical degrees of freedom, such as opening or closing jaws or translating a knife along a path. Instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

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

[0066] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. An exception to this definition will occur only when two or more elements, functions, steps or acts are in some way mutually exclusive.

[0067] Overview of master-slave teleoperated laparoscopic surgical robot

[0068] Laparoscopic surgical robots typically include a physician control platform where a surgeon sits, a patient surgery platform, and an image platform. The surgeon watches a two or three dimensional image of the surgical area transmitted by a laparoscope placed in the patient's body and manipulates the movement of a robotic arm on the patient surgery platform and the surgical instruments or laparoscope attached to it. The robotic arm is equivalent to a simulated human arm and the surgical instruments are equivalent to a simulated human hand, both providing the surgeon with a range of motions that simulate the human wrist while also filtering the tremors of the human hand itself.

[0069] A patient surgery platform includes a base, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the end of each robotic arm's support assembly. Surgical instruments and / or scopes are removably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or scopes that are operated at a surgical site within a patient's body. Various forms can allow each surgical instrument manipulator to move with one or more degrees of mechanical freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited from rotating the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient by mechanical or software constraints. The center of motion is typically located at the point where the surgical instrument enters the body, and is referred to as the "telecenter."

[0070] An image platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the endoscope includes optics that relay images from one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope to the patient's body to a host computer of the image platform via photoelectric conversion and the like. The processed images are then displayed on the video displays for the assistant to view via image processing.

[0071] A physician control platform can be at a single location in a surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system. Teleoperation master / slave operation can be accomplished according to a pre-set degree of control. In some embodiments, the physician control platform includes one or more manually operated input devices such as control levers, exoskeletal gloves, powered and gravity compensated manipulators, and the like. These input devices pick up the surgeon's operation signals, which are processed by the control system to generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the teleoperation motors on the surgical instrument manipulators, which in turn control the movement of the surgical instruments.

[0072] Generally, the forces generated by the teleoperation motors are transmitted via a transmission system to transmit the forces from the teleoperation motors to the end instruments of the surgical instruments. In some teleoperated surgical embodiments, the input devices that control the manipulators can be located remotely from the patient, in the room where the patient is located or outside, even in a different city. The input signals of the input devices are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will appreciate such systems and their components.

[0073] In some examples, reference is made to Figure 1 and Figure 2As shown, the surgical robot end execution device 10 provided by the embodiments of the present application can include a power box 100.

[0074] In some examples, with reference to Figures 1-3 As shown, the power box 100 can include a power box box body 110. The power box box body 110 can be made of a metal material such as an aluminum alloy or stainless steel. The power box box body 110 can be made of a non-metal material such as a hard plastic or an engineering plastic.

[0075] It can be understood that the material of the power box box body 110 in some examples of the embodiments of the present application is only shown as some specific examples, and is not a limitation on the material of the power box box body 110.

[0076] In some examples, with reference to Figures 1-3 As shown, the power box 100 can include a power box top plate 120. The power box top plate 120 can be arranged at the opening of the power box box body 110. The power box top plate 120 and the power box box body 110 cooperatively form an accommodation space. Since the power box 100 is fixedly assembled on the surgical robot end execution device 10, the isolation plate needs to be disassembled and assembled multiple times thereon. In order to improve durability (reduce wear and tear, etc.), generally, the power box top plate 120 can be made of a metal material such as stainless steel.

[0077] In some examples, with reference to Figure 3 As shown, the accommodation space can accommodate a fixing plate 112. The fixing plate 112 can be fixedly connected with the power box box body 110.

[0078] In some examples, the fixing plate 112 can be fixedly connected with a surgical slide table (not shown in the figure) of the die-cast execution device 10. The power box box body 110 can be surrounded on the side of the fixing plate 112 away from the surgical slide table.

[0079] In some examples, with reference to Figure 3 As shown, the accommodation space can accommodate a drive motor 113. The drive motor 113 can be fixedly arranged on the fixing plate 112.

[0080] In some examples, the drive motor 113 can include one.

[0081] In some examples, the drive motor 113 can include multiple. In some examples of the embodiments of the present application, the drive motor 113 includes multiple as a specific example.

[0082] In some examples, with reference to Figure 2 and Figure 3 As shown, the power box top plate 120 can be provided with a first shaft hole 121. The output shaft of the drive motor 113 can be arranged in the first shaft hole 121, so as to output the power of the drive motor 113 outward through the first shaft hole 121.

[0083] In some examples, referring to Figs. 1 and 2, the surgical robot end effector 10 can include an isolation plate 200. The isolation plate 200 can be detachably arranged on the power box 100. Figure 1 Figure 2 In some examples, referring to Fig. 3, the isolation plate 200 can be arranged on the power box top plate 120. Referring to Fig. 4, the isolation plate 200 can be provided with a transmission disc 210. The transmission disc 210 can be in transmission connection with the output shaft of the drive motor 113. The drive motor 113 can drive the transmission disc 210 to rotate, thereby transmitting power to the transmission disc 210.

[0084] In some examples, referring to Fig. 5, the drive motor 113 can be connected with the first power output disc 122 (see the detailed description of subsequent examples of embodiments of the present application), the drive motor 113 transmits power to the first power output disc 122, drives the first power output disc 122 to rotate, the first power output disc 122 is clamped with the transmission disc 210, thereby transmitting power to the transmission disc 210 and driving the transmission disc 210 to rotate. Figure 2 In some examples, referring to Figs. 6 and 7, the surgical robot end effector 10 can include a surgical instrument 300. The surgical instrument 300 can be detachably arranged on the isolation plate 200.

[0085] In some examples, referring to Fig. 8, the surgical instrument 300 can include an instrument box 310. The instrument box 310 can be arranged on the isolation plate 200.

[0086] Figure 1 In some examples, referring to Fig. 9, the surgical instrument 300 can include an elongated shaft 330. The elongated shaft 330 can be arranged on the instrument box 310. The elongated shaft 330 can be in rotatable connection with the instrument box 310. Figure 2 In some examples, referring to Figs. 10 and 11, the elongated shaft 330 can be provided with an end effector. The end effector can include the forceps, needle holder, scissors, monopolar / bipolar cauter, tissue stabilizer or retractor, clip applier, anastomosis device, imaging device, etc. described in detail in the foregoing embodiments of the present application.

[0087] Figure 2 In some examples, referring to Fig. 12, the surgical instrument 300 can have a first transmission shaft 340. The first transmission shaft 340 can be arranged on the instrument box 310. The first transmission shaft 340 can be in transmission connection with the elongated shaft 330, thereby driving the elongated shaft 330 and the end effector to act.

[0088] In some examples, referring to Fig. 13, the first transmission shaft 340 can be provided with a first transmission disc 350. The first transmission disc 350 can be in transmission connection with the first transmission shaft 340. The first transmission disc 350 can be in transmission connection with the elongated shaft 330, thereby driving the elongated shaft 330 and the end effector to act. Figure 1 Figure 2 In some examples, referring to Fig. 14, the first transmission disc 350 can be provided with a first transmission hole 351. The first transmission hole 351 can be in transmission connection with the first transmission shaft 340. The first transmission hole 351 can be in transmission connection with the elongated shaft 330, thereby driving the elongated shaft 330 and the end effector to act.

[0089] In some examples, referring to Fig. 15, the first transmission shaft 340 can be provided with a second transmission disc 360. The second transmission disc 360 can be in transmission connection with the first transmission shaft 340. The second transmission disc 360 can be in transmission connection with the elongated shaft 330, thereby driving the elongated shaft 330 and the end effector to act.

[0090] In some examples, referring to Fig. 16, the second transmission disc 360 can be provided with a second transmission hole 361. The second transmission hole 361 can be in transmission connection with the first transmission shaft 340. The second transmission hole 361 can be in transmission connection with the elongated shaft 330, thereby driving the elongated shaft 330 and the end effector to act. Figure 4 In some examples, referring to Fig. 17, the second transmission shaft 340 can be provided with a third transmission disc 370. The third transmission disc 370 can be in transmission connection with the second transmission shaft 340. The third transmission disc 370 can be in transmission connection with the elongated shaft 330, thereby driving the elongated shaft 330 and the end effector to act.​​​​

[0091] In some examples, the first transmission shaft 340 can correspond to the first shaft hole 121.

[0092] In some examples, the first transmission shaft 340 can be coaxial with the first shaft hole 121. That is, the output shaft of the driving motor 113 can transmit power to the first transmission shaft 340 through the first shaft hole 121. For example, the output shaft of the driving motor 113 can pass through the first shaft hole 121 and be connected to the transmission disc 210 on the isolation plate 200, so as to transmit power to the transmission disc 210; in addition, the first transmission shaft 340 can be connected to the transmission disc 210 on the isolation plate 200, so that the transmission disc 210 transmits the power of the driving motor 113 to the first transmission shaft 340.

[0093] In some examples, after the instrument box 310 is installed on the isolation plate 200, the relevant information of the surgical instrument 300 needs to be read. For example, the type, model, and use frequency of the surgical instrument 300 are read, so as to determine that the surgical instrument 300 is accurately installed and improve the safety of the surgery.

[0094] In some examples, in order to facilitate reading of the relevant information of the surgical instrument 300, the power box 100 can be provided with an information reader (not shown in the figure).

[0095] In some examples, the surgical instrument 300 (for example, the instrument box 310) can be provided with an information storage tag 350 (refer to Figure 9 The information storage tag 350 can be an RFID chip.

[0096] In some examples, in order to improve the stability and accuracy of reading the information stored in the information storage tag 350 by the information reader, the information reader can have a first antenna 111, as shown in Figure 5 The first antenna 111 can surround the first shaft hole 121 of the power box top plate 120.

[0097] In some examples, the first antenna 111 can be arranged around the outer periphery of the first shaft hole 121. In this way, the space around the outer periphery of the first shaft hole 121 can be fully utilized, the size of the first antenna 111 can be increased in the limited space, so as to improve the power of the first antenna 111 and improve the stability and accuracy of reading the information stored in the information storage tag 350.

[0098] In some examples, a fixing member for fixing and supporting the first antenna 111 can be arranged in the first shaft hole 121, and the first antenna 111 can be arranged around the fixing member.

[0099] In some examples, the first antenna 111 can be closely attached to the hole wall of the first shaft hole 121 and extend from the hole wall of the first shaft hole 121 to the side of the power cartridge top plate 120 facing the isolation plate 200, so as to reduce the distance between the first antenna 111 and the information storage tag 350. In this way, the distance between the first antenna 111 and the information storage tag 350 can be reduced, and the stability and accuracy of the first antenna 111 reading the information stored in the information storage tag 350 can be improved. In addition, the metal power cartridge top plate 120 can be prevented from blocking and shielding the signal, and the first antenna 111 can read the information of the information storage tag 350.

[0100] In some examples, the information storage tag 350 can be arranged on the first transmission shaft 340 (as shown in FIG. 4). Figure 9 The information storage tag 350 has a second antenna 351 (as shown in FIG. 4). Figure 11 In this way, the second antenna 351 and the first antenna 111 can be arranged opposite to each other, and the distance between the second antenna 351 and the first antenna 111 can be reduced, so that the stability and accuracy of the first antenna 111 reading the information stored in the information storage tag 350 can be improved.

[0101] In some examples, the information storage tag 350 can have a second antenna 351. The second antenna 351 can be arranged on the first transmission shaft 340.

[0102] In some examples, the second antenna 351 can be arranged around the outer periphery of the first transmission shaft 340. In this way, the size of the second antenna 351 can be increased, and the power of the second antenna 351 can be increased. In this way, the power of the signal transmission between the first antenna 111 and the second antenna 351 can be improved, and the accuracy and stability of the information reader reading the information in the information storage tag 350 can be improved.

[0103] In some examples, along the axial direction of the first shaft hole 121, the signal transmission path between the first antenna 111 and the second antenna 351 is signal-conductive.

[0104] That is, along the axial direction of the first shaft hole 121, there is no signal shielding member between the first antenna 111 and the second antenna 351. For example, the components between the first antenna 111 and the second antenna 351 can be non-metal, so that the signal between the first antenna 111 and the second antenna 351 is signal-conductive.

[0105] The surgical robot end execution device 10 provided by the embodiment of the present application is provided with an information reader in the power box 100, and the first antenna 111 of the information reader is arranged around the first shaft hole 121 of the top plate 120 of the power box. In this way, the space outside the first shaft hole 121 can be fully utilized, the first antenna 111 has sufficient space for arrangement, and the size of the first antenna 111 can be improved. The surgical instrument 300 is arranged on the isolation plate 200 arranged on the power box 100, and the first transmission shaft 340 of the surgical instrument 300 is arranged in correspondence with the first shaft hole 121. In this way, the power box 100 can conveniently transmit power to the first transmission shaft 340 through the first shaft hole 121. The information storage tag 350 is arranged on the first transmission shaft 340, and the second antenna 351 of the information storage tag 350 is arranged on the second transmission shaft. In this way, the size of the second antenna 351 can be increased, thereby increasing the mutual inductive area between the first antenna 111 and the second antenna 351. In addition, along the axial direction of the first shaft hole 121, the signal transmission path between the first antenna 111 and the second antenna 351 is signal-conductive. That is, there is no signal shielding element between the first antenna 111 and the second antenna 351, and the communication between the first antenna 111 and the second antenna 351 is facilitated. Compared with the related art, the size of the first antenna 111 and the second antenna 351 can be improved, the power of the first antenna 111 and the second antenna 351 is improved, and thus the stability and accuracy of the information reader reading information from the information storage tag 350 can be improved.

[0106] In addition, in the embodiment of the present application, the first antenna 111 of the information reader is arranged around the outer periphery of the first shaft hole 121, and the second antenna 351 of the information storage tag 350 is arranged on the first transmission shaft 340. In this way, the first antenna 111 does not need to occupy the space of the "ear" of the power box, and the second antenna 351 does not need to occupy the space of the "ear" of the instrument box, and the arrangement of other signal transmission channels between the power box and the instrument box is facilitated.

[0107] In some examples, referring to Figure 5 As shown in the figure, the second shaft hole (not labeled in the figure) can be arranged on the top plate 120 of the power box.

[0108] In some examples, the first shaft hole 121 can be located in the middle of the top plate 120 of the power box. The second shaft hole can be arranged around the outer periphery of the first shaft hole 121 along the circumferential direction of the first shaft hole 121.

[0109] It should be noted that the second shaft hole is arranged along the circumferential direction of the first shaft hole 121, which does not mean that the second shaft hole needs to be arranged along the circumference. In the embodiment of the present application, it can mean that the second shaft hole is located around the contour of the first shaft hole 121.

[0110] In some examples, the first shaft hole 121 and the second shaft hole can have the same, similar and analogous functions. That is, a plurality of driving motors 113 can be arranged in the power box 100. Each driving motor 113 can correspond to a shaft hole (the first shaft hole 121 or the second shaft hole). In this way, the end effector can be driven from multiple degrees of freedom, improving the flexibility of the end effector.

[0111] It can be understood that in some examples, the second shaft hole can be arranged at the middle of the top plate 120 of the power box, and the first shaft hole 121 can be arranged at the outer periphery of the second shaft hole in the circumferential direction of the second shaft hole. In some examples of the embodiments of the present application, only the first shaft hole 121 arranged at the middle of the top plate 120 of the power box is taken as a specific example.

[0112] In some examples of the embodiments of the present application, the first shaft hole 121 is arranged at the middle of the top plate 120 of the power box, and the second shaft hole is arranged at the outer periphery of the first shaft hole 121 in the circumferential direction of the first shaft hole 121. In this way, the first antenna 111 can be arranged in a larger space at the outer periphery of the first shaft hole 121, the size of the first antenna 111 can be increased, the receiving power of the first antenna 111 can be improved, and the stability and accuracy of reading the information stored in the information storage tag 350 can be improved.

[0113] In some examples, referring to FIG. 1, the first shaft hole 121 can be arranged at the middle of the top plate 120 of the power box. Figure 5 As shown, the first power output disc 122 can be arranged in the first shaft hole 121. In the circumferential direction of the first shaft hole 121, the first power output disc 122 is arranged in the first shaft hole 121.

[0114] In some examples, the first power output disc 122 can be arranged in the first shaft hole 121. The output shaft of the driving motor 113 can be in transmission connection with the first power output disc 122. That is, the power of the driving motor 113 is transmitted to the first power output disc 122, and is outputted outwardly through the first power output disc 122.

[0115] In some examples, the first power output disc 122 can be configured to transmit power to the first transmission shaft 340. For example, the first transmission shaft 340 can be connected with the transmission disc 210, and the power transmitted by the first power output disc 122 to the transmission disc 210 is transmitted to the first transmission shaft 340 through the transmission disc 210.

[0116] In some examples, the first power output disc 122 can be a non-metal part. In this way, the influence of the first power output disc 122 on the signal transmission between the first antenna 111 and the second antenna 351 can be reduced, and the stability and accuracy of the signal transmission between the first antenna 111 and the second antenna 351 can be improved.

[0117] In some examples, the first power output disc 122 may be a plastic component. For example, the first power output disc 122 may be a rigid plastic component or an engineering plastic component.

[0118] In some examples, a second power output disc 124 may be provided inside the second shaft hole.

[0119] In some examples, the second power output disc 124 can be made of metal. For example, the second power output disc 124 can be made of aluminum alloy, stainless steel, or cast iron.

[0120] In some examples, the second power output disc 124 may be a non-metallic component. For example, the second power output disc 124 may be a rigid plastic component or an engineering plastic component.

[0121] It is understood that in some examples of the embodiments of this application, the material of the second power output disc 124 may be the same as, similar to or similar to that in the related art. The material of the second power output disc 124 is not limited in the embodiments of this application.

[0122] In some examples, refer to Figure 5 As shown, a mounting plate 123 can be provided inside the first shaft hole 121. The first antenna 111 can be provided on the mounting plate 123.

[0123] In some examples, the diameter of the first shaft hole 121 can be larger than the diameter of the second shaft hole. This facilitates the placement of the mounting plate 123 within the first shaft hole 121.

[0124] In some examples of embodiments of this application, a mounting plate 123 is provided in the first shaft hole 121, and the first antenna 111 is mounted on the mounting plate 123, which facilitates the installation and arrangement of the first antenna 111.

[0125] In some examples, refer to Figure 5 As shown, the mounting plate 123 may have a through hole 1231. The through hole 1231 may penetrate both surfaces of the mounting plate along the axial direction.

[0126] In some examples, the first power output disc 122 may be inserted into the through hole 1231.

[0127] In some examples, the diameter of the through hole 1231 can be the same as, similar to, or similar to the diameter of the second shaft hole. Thus, the diameters of the first power output disc 122 and the second power output disc 124 can be the same, similar, or similar. That is, the first power output disc 122 and the second power output disc 124 can be manufactured using the same mold or machining tools, saving on mold-making costs.

[0128] In some examples of embodiments of this application, reference is made to Figure 5As shown, the first antenna 111 can be arranged on the side of the mounting disc 123 away from the partition plate.

[0129] In some examples, the first antenna 111 can be embedded on the side of the mounting disc 123 away from the partition plate 200.

[0130] In some examples, the first antenna 111 can be attached to the side of the mounting disc 123 away from the partition plate 200.

[0131] In some examples, to avoid the influence of the mounting disc 123 on the signal transmission between the first antenna 111 and the second antenna 351, the mounting disc 123 can be a non-metallic piece.

[0132] In some examples, the mounting disc 123 can be a plastic piece, which should have high hardness and wear resistance to facilitate long-term use of the power box 100. For example, the mounting disc 123 can be a hard plastic piece or an engineering plastic piece, such as PI, PEEK, etc. It can also be an inorganic or organic non-metallic material, such as alumina ceramic, nylon, etc.

[0133] It can be understood that in some examples of the embodiments of the present application, the material of the mounting disc 123 is only shown as some specific examples, and is not a limitation on the material of the mounting disc 123. For example, in some examples, when the information storage tag 350 is a metal-resistant tag and the information reader is a metal-resistant reader, the material of the mounting disc 123 can also be a metal material.

[0134] In some examples of the embodiments of the present application, the first antenna 111 is arranged on the side of the mounting disc 123 away from the partition plate 200. In this way, the first antenna 111 can be isolated from the rotating first power output disc 122 and the transmission disc 210 by the mounting disc 123, so as to avoid the first antenna 111 being rubbed by the first power output disc 122 and the transmission disc 210, and to protect the first antenna 111.

[0135] In addition, the mounting disc 123 is arranged as a non-metallic piece, which can reduce the influence of the mounting disc 123 on the signal transmission between the first antenna 111 and the second antenna 351, and improve the stability and accuracy of the signal transmission between the first antenna 111 and the second antenna 351, i.e., the stability and accuracy of the information reader reading the stored information in the information storage tag 350.

[0136] In some examples, referring to Figure 3 , Figure 5 and Figure 6 , the power box 100 can be provided with a circuit board 114. The circuit board 114 can be located on the side of the power box top plate 120 facing the power box 100.

[0137] In some examples, referring toFigure 5 And Figure 6 As shown in FIG. 11, the circuit board 114 can be provided with a first through hole 1141. The first through hole 1141 can be coaxial with the first shaft hole 121. The first power output disc 122 can extend into the first through hole 1141. In this way, the output shaft of the driving motor 113 can be transmissionally connected with the first power output disc 122.

[0138] In some examples, referring to FIG. 11, the circuit board 114 can be provided with a second through hole 1142. The second through hole 1142 can be coaxial with the second shaft hole. The second power output disc 124 can extend into the second through hole 1142. In this way, the output shaft of the driving motor 113 can be transmissionally connected with the second power output disc 124. Figure 5 And Figure 6 As shown in FIG. 11, the circuit board 114 can be provided with a first through hole 1141. The first through hole 1141 can be coaxial with the first shaft hole 121. The first power output disc 122 can extend into the first through hole 1141. In this way, the output shaft of the driving motor 113 can be transmissionally connected with the first power output disc 122.

[0139] In some examples, the circuit board 114 can include an integrated circuit board 114.

[0140] In some examples, the circuit board 114 can include a printed circuit board 114 (PCB).

[0141] It can be understood that in some examples of the embodiments of the present application, the specific type of the circuit board 114 is only shown as some specific examples, and is not limited to the specific type of the circuit board 114.

[0142] In some examples, the information reader can include a reader body (not shown in the figure). The reader body can be arranged on the circuit board 114.

[0143] In some examples, the reader body can be arranged on the circuit board 114 by means of a patch.

[0144] In some examples, the first antenna 111 can be connected with the reader body.

[0145] In some examples, the first antenna 111 can be directly connected with the reader body.

[0146] In some examples, the first antenna 111 can be connected with the reader body through the wiring on the circuit board 114.

[0147] In some examples of the embodiments of the present application, the circuit board 114 is arranged in the power box 100. The reader body of the information reader is arranged on the circuit board 114. In this way, the arrangement of the reader body is facilitated, and the reader body can analyze and process the information received by the first antenna 111.

[0148] In some examples, referring to FIG. 11, the circuit board 114 can be provided with a second through hole 1142. The second through hole 1142 can be coaxial with the second shaft hole. The second power output disc 124 can extend into the second through hole 1142. In this way, the output shaft of the driving motor 113 can be transmissionally connected with the second power output disc 124. Figures 7-9As shown, the instrument box 310 can be provided with an instrument box bottom plate 320. The first transmission shaft 340 can be arranged on the instrument box bottom plate 320. The first transmission shaft 340 can pass through the instrument box bottom plate 320 from the instrument box 310.

[0149] In some examples, referring to Figure 9 As shown, the first transmission shaft 340 can include a first shaft rod 341. The first shaft rod 341 can be configured to transmit power to the end effector.

[0150] In some examples, the first shaft rod 341 can be a metal shaft rod. For example, the first shaft rod 341 can be a shaft rod made of stainless steel, cast iron, or the like.

[0151] In some examples, referring to Figure 9 As shown, the first transmission shaft 340 can include a second shaft rod 342. The second shaft rod 342 can be arranged on the instrument box bottom plate 320.

[0152] In some examples, the second shaft rod 342 can be sleeved on the outer periphery of the first shaft rod 341.

[0153] In some examples, along the circumference of the first shaft rod 341, the second shaft rod 342 can be fixedly connected with the first shaft rod 341. For example, a spline can be arranged on the peripheral wall of the first shaft rod 341, and the second shaft rod 342 can be fixed along the circumference with the first shaft rod 341 through the spline. Alternatively, in some examples, after the second shaft rod 342 is sleeved on the outer periphery of the first shaft rod 341, the first shaft rod 341 and the second shaft rod 342 can be locked along the radial direction of the first shaft rod 341 and the second shaft rod 342 through a latch, a screw, or a bolt, and the like, so that the first shaft rod 341 and the second shaft rod 342 are relatively fixed in the circumferential direction.

[0154] In some examples, referring to Figure 10 As shown, the information storage label 350 can be arranged on the second shaft rod 342. The second shaft rod 342 can be a non-metal piece.

[0155] In some examples, the second shaft rod 342 can be a plastic piece. For example, the second shaft rod 342 can be an injection molded piece, a hard plastic piece, or an engineering plastic piece, or the like.

[0156] In some examples, the second shaft rod 342 can be in transmission connection with the transmission disc 210. The first shaft rod 341 can be connected with the end effector.

[0157] That is, the power of the driving motor 113 is transmitted to the second shaft rod 342 through the first power output disc 122 and the transmission disc 210, and the second shaft rod 342 transmits the power to the end effector through the first shaft rod 341, thereby driving the end effector to act.

[0158] In some examples of the embodiments of the present application, the second shaft 342 is sleeved on the outer periphery of the first shaft 341 and is a non-metallic member. In this way, after the information storage tag 350 is arranged on the second shaft 342, the second shaft 342 as a non-metallic member has no effect on signal transmission between the information storage tag 350 and the first antenna 111, and the stability and accuracy of signal transmission between the first antenna 111 and the information storage tag 350 can be improved, thereby improving the stability and accuracy of reading the information stored in the information storage tag 350.

[0159] In some examples, referring to Figures 8-11 The second shaft 342 can include a shaft body 3421. The shaft body 3421 can be sleeved on the outer periphery of the first shaft 341.

[0160] In some examples, the shaft body 3421 can be arranged on the instrument box bottom plate 320 and sleeved on the outer periphery of the first shaft 341.

[0161] In some examples, the second shaft 342 can include a power input disc 3422. Referring to Figure 8 and Figure 9 The power input disc 3422 can be located at one end of the shaft body 3421 away from the first shaft 341.

[0162] In some examples, the power input disc 3422 and the shaft body 3421 can be an integral member. The power input disc 3422 and the shaft body 3421 can be integrally injection molded. The power input disc 3422 and the shaft body 3421 can be double-color injection molded. Alternatively, the power input disc 3422 and the shaft body 3421 can be secondary injection molded. In some examples of the embodiments of the present application, the molding method of the power input disc 3422 and the shaft body 3421 is not limited.

[0163] In some examples, referring to Figure 9 and Figure 10 The power input disc 3422 can be arranged in the surface of the side of the instrument box bottom plate 320 facing the isolation plate 200.

[0164] In some examples, referring to Figures 8-10 The instrument box bottom plate 320 can be provided with a third shaft hole 321. The first transmission shaft 340 can be arranged in the third shaft hole 321.

[0165] In some examples, referring to Figure 9 and Figure 10 The third shaft hole 321 can include a first hole section 3211. The first hole section 3211 can penetrate to the surface of the side of the instrument box bottom plate 320 facing the instrument box 310. The shaft body 3421 can be arranged in the first hole section 3211.

[0166] In some examples, referring to Figure 9 and Figure 10 As shown, the third shaft hole 321 can include a second hole section 3212. Along the axial direction of the third shaft hole 321, the second hole section 3212 can be located on the side of the first hole section 3211 away from the instrument box 310.

[0167] In some examples, the second hole section 3212 can pass through to the surface of the instrument box bottom plate 320 on the side away from the instrument box 310. The power input disc 3422 can be arranged in the second hole section 3212.

[0168] In some examples, the hole diameter of the second hole section 3212 can be greater than the hole diameter of the first hole section 3211. In this way, a limiting step 3213 can be formed on the end of the second hole section 3212 facing the first hole section 3211. The limiting step 3213 can be configured to limit the axial movement of the first transmission shaft 340.

[0169] In some examples, the information storage label 350 can be arranged on the power input disc 3422.

[0170] In some examples of the embodiments of the present application, the power input disc 3422 is arranged on the end of the shaft body 3421 of the second shaft 342 away from the first shaft 341, and the information storage label 350 is arranged on the power input disc 3422. In this way, sufficient arrangement space provided for the information storage label 350 can increase the size of the second antenna 351 and improve the power of the second antenna 351; thereby improving the stability and accuracy of signal transmission between the first antenna 111 and the second antenna 351.

[0171] In some examples, referring to Figure 12 As shown, the second antenna 351 can have a ring structure. The second antenna 351 can be sleeved on the shaft body 3421.

[0172] In some examples, the second antenna 351 can be attached to the power input disc 3422.

[0173] In some examples, along the circumferential direction of the second shaft 342, the second antenna 351 can be fixedly connected with the second shaft 342.

[0174] In some examples, the second antenna 351 can be attached to the surface of the power input disc 3422 by an adhesive, so that the second antenna 351 is fixedly connected with the second shaft 342.

[0175] In some examples of the embodiments of the present application, the second antenna 351 is arranged in a ring structure and is sleeved on the outer periphery of the shaft body 3421; in this way, the circumferential space of the shaft body 3421 can be fully utilized, and the size of the second antenna 351 can be increased, thereby improving the power of the second antenna 351.

[0176] In addition, the second antenna 351 is attached to the power input disc 3422 and is fixed relative to the second shaft 342 in the circumferential direction. In this way, when the second shaft 342 rotates, the second shaft 342 drives the second antenna 351 to rotate. The relative position between the second antenna 351 and the first antenna 111 can be ensured to remain unchanged, thereby ensuring the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0177] In some examples, with reference to Figure 11 As shown, the power input disc 3422 can be provided with a boss 3423 on the side facing the shaft body 3421. The boss 3423 and the power input disc 3422 can be an integral piece.

[0178] In some examples, the second antenna 351 can be sleeved on the outer periphery of the boss 3423.

[0179] In some examples, in the axial direction of the first shaft 340, the thickness of the boss 3423 can be greater than the thickness of the second antenna 351.

[0180] In some examples, in the axial direction of the first shaft 340, the thickness of the boss 3423 can be equal to the thickness of the second antenna 351.

[0181] In some examples, one of the circumferential wall of the boss 3423 and the inner wall of the second antenna 351 is provided with a recess 3424. The other of the circumferential wall of the boss 3423 and the inner wall of the second antenna 351 is provided with a protrusion 3511. The protrusion 3511 can be embedded in the recess 3424 to limit the relative position of the second antenna 351 and the second shaft 342 in the circumferential direction of the second shaft 342.

[0182] In some examples, the circumferential wall of the boss 3423 can be provided with a recess 3424. The inner wall of the second antenna 351 can be provided with a protrusion 3511.

[0183] In some examples, the circumferential wall of the boss 3423 can be provided with a protrusion 3511. The inner wall of the second antenna 351 can be provided with a recess 3424.

[0184] In some examples of the embodiments of the present application, the circumferential wall of the boss 3423 is provided with a recess 3424, and the inner wall of the second antenna 351 is provided with a protrusion 3511 as a specific example.

[0185] In some examples of the embodiments of the present application, the second antenna 351 is sleeved on the outer periphery of the boss 3423, and the boss 3423 is arranged on the side of the power input disc 3422 facing the shaft body 3421. One of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351 is provided with a recess 3424, and the other is provided with a protrusion 3511. In this way, the protrusion 3511 can be embedded in the recess 3424, which facilitates the positioning of the second antenna 351 and the second shaft 342 in the circumferential direction of the second shaft 342. In addition, since the recess 3424 is arranged on the peripheral wall of the boss 3423, the integrity of the shaft body 3421 can be improved, and the strength of the shaft body 3421 can be ensured.

[0186] In some examples, referring to Figure 10 As shown in the figure, the outer periphery of the shaft body 3421 can be sleeved with a gasket 3425. One end of the gasket 3425 can be pressed on at least one of the boss 3423 and the second antenna 351, and the other end of the gasket 3425 can abut against the instrument box bottom plate 320. In some examples, referring to Figure 10 As shown in the figure, the gasket 3425 can be arranged in the first hole section 3211. The gasket 3425 can protrude from the limiting step 3213 and extend into the second hole section 3212.

[0187] In some examples, a bearing (not labeled in the figure) is sleeved on the outer periphery of the shaft body 3421. The bearing can be arranged in the first hole section 3211. For example, the outer ring of the bearing can be fixedly connected with the hole wall of the first hole section 3211, and the inner ring of the bearing can be fixedly connected with the peripheral wall of the first transmission shaft 340. The other end of the gasket 3425 can abut against the bearing.

[0188] In some examples, the gasket 3425 can be pressed on the boss 3423. For example, the second antenna 351 can be pasted on the power input disc 3422 by an adhesive. At this time, the gasket 3425 is pressed on the boss 3423, and since the gasket 3425 protrudes from the limiting step 3213, there is a gap between the boss 3423 and the limiting step 3213, that is, there is a certain gap between the second antenna 351 and the fiber step 3213, which eliminates the friction between the limiting step 3213 and the second antenna 351, and protects the second antenna 351.

[0189] In some examples, the gasket 3425 can be pressed on the second antenna 351. In this way, the gasket can limit the axial movement of the second antenna 351, so that the distance between the second antenna 351 and the first antenna 111 remains basically unchanged, which improves the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0190] In some examples, washer 3425 can be pressed onto both second antenna 351 and boss 3423 simultaneously.

[0191] In some examples, washer 3425 can be a rubber washer.

[0192] In some examples of embodiments of this application, a washer 3425 is fitted around the outer periphery of the shaft body 3421. One end of the washer 3425 presses against the boss 3423 and the second antenna 351, while the other end of the washer 3425 abuts against the instrument box bottom plate 320. Thus, when the second antenna 351 shifts along the axial direction of the shaft body 3421, the washer 3425 can limit the second antenna 351. In other words, by limiting the second antenna 351 along the axial direction of the shaft body 3421, the distance between the second antenna 351 and the first antenna 111 remains essentially constant, improving the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0193] In some examples, refer to Figure 11 As shown, the power input disc 3422 may have a recess 3426. (Refer to...) Figure 12 As shown, the information storage tag 350 may include a storage chip 352. The storage chip 352 may be disposed on the second antenna 351. The storage chip 352 may be accommodated within a recess 3426. In this way, the recess 3426 can protect the storage chip 352. In addition, after the second antenna 351 is installed on the power input plate 3422, it can be ensured that the surface of the second antenna 351 is flat, which facilitates the pressing and limiting of the second antenna 351 by the washer 3425.

[0194] In some examples of embodiments of this application, a surgical robot is also provided. The surgical robot may include a main console.

[0195] In some examples, the surgical robot may include a slave manipulator. The slave manipulator can communicate with the main control console. The physician or operator can input operation signals on the main control console, and the slave manipulator can perform corresponding actions based on the operation signals.

[0196] In some examples, the surgical robot may include the end effector 10 described in detail in the foregoing embodiments of this application. The end effector 10 may be located on a slave arm.

[0197] It is understood that some examples of surgical robots provided in the embodiments of this application have the same or corresponding technical features as the end effector 10 of the surgical robot provided in the foregoing embodiments of this application. Therefore, they have the same or similar technical effects as the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0198] It should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same. Although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some of the technical features can be replaced by equivalent features. Such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A power box for use in a surgical robot, characterized in that, The power box (100) includes: The power box top plate (120) is provided with an information reader inside the power box (100). The information reader has a first antenna (111). The first antenna (111) surrounds the first shaft hole (121) of the power box top plate (120). The first antenna (111) is used to transmit signals. A first power output disk (122) is provided inside the first shaft hole (121), and the first power output disk (122) is configured to transmit power to the outside; the first power output disk (122) is a non-metallic part.

2. The power box according to claim 1, characterized in that, A mounting plate (123) is provided inside the first shaft hole (121), and the first antenna (111) is disposed on the mounting plate (123); The mounting plate (123) has a through hole (1231), and the first power output plate (122) passes through the through hole (1231).

3. The power box according to claim 2, characterized in that, The first antenna (111) is located on the side of the mounting plate (123) facing away from the first power output plate (122), and the mounting plate (123) is a non-metallic part.

4. The power box according to any one of claims 1 to 3, characterized in that, The power box (100) is equipped with a circuit board (114), and the information reader includes a reader body, which is disposed on the circuit board (114). The first antenna (111) is connected to the reader body.

5. The power box according to any one of claims 1 to 3, characterized in that, The power box top plate (120) is also provided with a second shaft hole. The first shaft hole (121) is located in the middle of the power box top plate (120), and the second shaft hole is arranged circumferentially along the first shaft hole (121).

6. The power box according to any one of claims 1 to 3, characterized in that, The first antenna (111) is used to transmit signals with the second antenna (351) which is annularly sleeved on the shaft body (3421). The second antenna (351) is attached to the power input disk (3422) of the first drive shaft (340). The second antenna (351) is fixedly connected to the second shaft (342) along the circumference of the second shaft (342) of the first drive shaft (340). The first drive shaft (340) passes through the third shaft hole (321) of the instrument box bottom plate (320) of the surgical instrument (300); the first drive shaft (340) includes: The first shaft (341) is configured to transmit power to the end effector; The second shaft (342) passes through the third shaft hole (321) and is sleeved on the outer periphery of the first shaft (341). The second shaft (342) is fixed to the first shaft (341) along the circumference of the first shaft (341). The information storage tag (350) is disposed on the second shaft (342). The second shaft (342) is a non-metallic part. The power input disk (3422) is located at the end of the shaft body (3421) away from the first shaft (341).

7. The power box according to claim 6, characterized in that, The power input disk (3422) is provided with a groove (3426), and the information storage tag (350) includes a storage chip (352), which is disposed on the second antenna (351); the storage chip (352) is accommodated in the groove (3426).

8. The power box according to any one of claims 1 to 3, characterized in that, The first antenna (111) transmits signals with the second antenna (351) of the information storage tag (350). The second antenna (351) is located on the first drive shaft (340) of the surgical instrument (300), and the position of the first drive shaft (340) corresponds to the first shaft hole (121).

9. The power box according to claim 8, characterized in that, The signal transmission path between the first antenna (111) and the second antenna (351) is axially connected along the first axial hole (121).

10. A surgical robot end effector, characterized in that, include: A power box (100) has a power box top plate (120), and an information reader is provided inside the power box (100). The information reader has a first antenna (111), and the first antenna (111) surrounds a first shaft hole (121) of the power box top plate (120). An isolation plate (200) is detachably mounted on the power box (100); A surgical instrument (300) is detachably mounted on the isolation plate (200). The surgical instrument (300) has a first drive shaft (340), the position of which corresponds to the first shaft hole (121). An information storage tag (350) is provided on the first drive shaft (340), and the information storage tag (350) has a second antenna (351). The second antenna (351) is mounted on the first drive shaft (340). The first antenna (111) is used to transmit signals with the second antenna (351).

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