Supporting and stabilizing device used for robot surgery and integrating collision early warning function

Abstract

According to the supporting and stabilizing device integrating the collision early warning function in the robot surgery, the assistant instrument component, the robot surgical instrument component and the multi-degree-of-freedom supporting mechanism which are matched with one another are arranged, and the antenna module is packaged at the lower end of the assistant instrument body; the base band processing unit is integrated on the multi-degree-of-freedom supporting mechanism and is electrically connected with the multi-degree-of-freedom supporting mechanism, meanwhile, the multiple sets of induction coil tags with the metal interference resisting patches are packaged at the lower end of the long arm of the robot surgical instrument body, and by means of the induction effect of the antenna module and the induction coil tags and the signal processing capacity of the base band processing unit, the multi-degree-of-freedom supporting mechanism can be obtained. Relative positions of the assistant instrument component and the robot surgical instrument component are monitored in real time, possible unexpected collision between the assistant instrument component and the robot surgical instrument component is warned in time, interference of collision on operation is effectively avoided, meanwhile, the multi-degree-of-freedom supporting mechanism can stably support the assistant instrument component, and stability and safety of operation in an operation are further guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotic surgical instruments, and in particular to a support and stabilization device for use in robotic surgery with integrated collision warning function. Background Technology

[0002] Surgical robotic systems, a revolutionary breakthrough in minimally invasive surgery, significantly improve the precision and controllability of surgical procedures through multi-degree-of-freedom robotic arms and 3D high-definition imaging technology. Their robotic arm design mimics human wrist movements, possessing dexterity exceeding the limits of the human hand, enabling precise manipulation within confined anatomical spaces. Combined with high-magnification 3D stereoscopic vision, surgeons can clearly identify deep blood vessels and nerve structures, greatly reducing the risk of tissue damage during surgery. In complex procedures such as radical prostatectomy, surgical robots have demonstrated outstanding advantages, becoming a core tool of modern precision surgery, and their clinical value has been fully validated through widespread global application.

[0003] However, significant safety risks remain in the coordinated operation of the surgeon's robotic arm instruments and assistant instruments during deep cavity surgery: prolonged clamping and fixation of tissues by the assistant can lead to arm fatigue, and the leverage effect of extended instruments in this state can exacerbate hand tremors, further reducing the stability of the surgical field; in addition, when assistant instruments are temporarily moved out of the surgeon's field of vision for operational needs, there is a high incidence of unintended collisions between the robotic arm instruments and assistant instruments, which not only interferes with the assistant's operation but may also damage precision instruments worth millions of dollars, and may even cause surgical complications such as tissue tearing or blood vessel rupture. Summary of the Invention

[0004] The purpose of this invention is to provide a support and stabilization device with integrated collision warning function for use in robotic surgery, thereby improving the stability and safety of various operations during surgery.

[0005] In accordance with the above objectives, the present invention provides a support and stabilization device for integrating collision warning function in robotic surgery, comprising an assistant instrument component, a robotic surgical instrument component, and a multi-degree-of-freedom support mechanism for supporting the assistant instrument component. The assistant instrument component includes an assistant instrument body, the lower end of which is encapsulated with an antenna module, and a first set of needles passing through the long arm of the assistant instrument body. A baseband processing unit is integrated and installed on the multi-degree-of-freedom support mechanism, and the antenna module is electrically connected to the baseband processing unit via a radio frequency harness. The robotic surgical instrument component includes a robotic surgical instrument body, the lower end of which is encapsulated with multiple sets of induction coil tags, and each set of induction coil tags has an anti-metal interference patch affixed to its outer side.

[0006] Furthermore, the antenna module and the induction coil are respectively fixed to the long arm of the assistant instrument body and the long arm of the robotic surgical instrument body through medical films.

[0007] Furthermore, the radio frequency harness includes a spring harness segment, and the tail end of the radio frequency harness is electrically connected to the baseband processing unit through a magnetic coupling structure. The magnetic coupling structure includes a concentric circle contact ring assembly, and a Halbach array permanent magnet is fixed to the outside of the concentric circle contact ring assembly.

[0008] Furthermore, the plurality of the induction coil tags are distributed in a matrix along the circumference of the long arm of the robotic surgical instrument body, and the distance between any two adjacent induction coil tags is less than or equal to 15 mm.

[0009] Furthermore, the multi-degree-of-freedom support mechanism includes a roller guide rail, which is horizontally adjustable and slidably mounted on a side guide rail on the side of the operating table. A movable base is slidably mounted on the roller guide rail. Rollers that cooperate with the roller guide rail are symmetrically mounted on both sides of the bottom end of the movable base. Limiters are provided on both sides of the movable base on the roller guide rail. A folding rod assembly is detachably mounted on the top of the movable base. A crossbar is ball-jointed to the top of the folding rod assembly. Multiple instrument support forks are inserted axially at intervals on the crossbar.

[0010] Furthermore, sliding blocks corresponding to both ends of the roller guide rail are slidably installed on the side guide rail. Insert rods are provided at both ends of the roller guide rail. The two insert rods are respectively inserted into the corresponding sliding blocks. A tightening knob that passes through the insert rod is screwed onto the sliding block. The inner side of the tightening knob can abut against the side guide rail.

[0011] Furthermore, the folding rod assembly includes a plug-in block, a first connecting rod, and a second connecting rod that are hinged sequentially. A first adjustment knob is provided at the hinge point between the plug-in block and the first connecting rod, and a second adjustment knob is provided at the hinge point between the first connecting rod and the second connecting rod. The top of the movable base is provided with a plug-in interface, and the plug-in block is inserted into the plug-in interface. A hinge seat is fixedly installed at the end of the second connecting rod away from the first connecting rod. The bottom end of the hinge seat has a ball-and-socket structure that cooperates with the crossbar. The bottom end of the crossbar has a ball head that cooperates with the ball-and-socket structure. A locking knob that can penetrate into the ball-and-socket structure and abut against the ball head is screwed onto the hinge seat.

[0012] Furthermore, the top of the crossbar is provided with several connectors at equal intervals along its axial direction, and the instrument support fork is rotatably inserted into the connectors.

[0013] Furthermore, the plug block is provided with elastic limiting protrusions symmetrically on both sides, and the plug interface is provided with limiting openings on both sides corresponding to the two limiting protrusions respectively.

[0014] Furthermore, the instrument support fork has a Y-shaped structure.

[0015] The technical solution of this invention sets up mutually cooperating assistant instrument components, robotic surgical instrument components, and a multi-degree-of-freedom support mechanism. An antenna module is encapsulated at the lower end of the assistant instrument body, and a baseband processing unit is integrated into the multi-degree-of-freedom support mechanism, achieving electrical connection between the two. Simultaneously, multiple sets of induction coil tags with anti-metal interference patches are encapsulated at the lower end of the long arm of the robotic surgical instrument body. By utilizing the sensing effect of the antenna module and the induction coil tags, combined with the signal processing capability of the baseband processing unit, the relative position of the assistant instrument components and the robotic surgical instrument components can be monitored in real time, providing timely warnings of possible unexpected collisions. This effectively avoids interference with the operation, reduces damage to precision instruments, and lowers the risk of surgical complications such as tissue tearing or blood vessel rupture. At the same time, the multi-degree-of-freedom support mechanism can stably support the assistant instrument components, further ensuring the stability and safety of intraoperative operations, thus making up for the shortcomings of existing surgical robot systems in instrument cooperative collision protection. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is the overall structural diagram of the multi-degree-of-freedom support mechanism in this application.

[0018] Figure 2 This is a side view of the multi-degree-of-freedom support mechanism in this application.

[0019] Figure 3 This is a structural schematic diagram of the side guide rail, the wheel guide rail, and the movable base in this application.

[0020] Figure 4 This is a schematic diagram of the mating structure between the plug-in block and the movable base in this application.

[0021] Figure 5 This is a schematic diagram of the folding rod assembly in this application.

[0022] Figure 6 This is a structural schematic diagram of the hinge seat and crossbar in this application.

[0023] Figure 7 This is a schematic diagram of the crossbar portion in this application.

[0024] Figure 8 This is a structural schematic diagram of the assistant device part in this application.

[0025] Figure 9 This is a structural schematic diagram of the robotic surgical instrument part in this application.

[0026] Figure 10 This is a schematic diagram of the external structure of the baseband processing unit in this application.

[0027] Figure 11 This is a schematic diagram of the internal structure of the baseband processing unit in this application.

[0028] Figure 12 This is a schematic diagram of the induction coil tag structure in this application.

[0029] Figure 13 This is a schematic diagram of the magnetic coupling structure of the wire harness in this application.

[0030] Figure labeling: 1-Operating table, 11-Sliding block, 12-Side guide rail, 13-Tightening knob, 14-Insertion rod, 15-Roller guide rail, 16-Limiter, 17-Roller, 18-Moving base, 19-Limiting port, 2-Multi-degree-of-freedom support mechanism, 21-Insertion block, 22-Elastic limiting protrusion, 23-Folding rod assembly, 231-First movable joint, 232-First adjustment knob, 233-First connecting rod, 234-Second movable joint, 235-Second adjustment knob, 236-Second connecting rod, 24-Spherical hinge structure, 241-Hinge seat, 242-Locking knob, 25-Crossbar, 251-Connecting joint, 252-Instrument support fork, 253-Ball head, 3-Assistant instrument component, 31-Assistant instrument body, 32-Head 321-Polyimide film, 322-Medical film, 33-First cannula needle, 34-RF wire harness, 341-Double-sided snap-fit ​​structure, 342-Spring wire harness segment, 35-Magnetic coupling structure, 351-Concentric circle contact ring assembly, 352-Halbach array permanent magnet, 36-Baseband processing unit, 361-Indicator light opening, 362-Speaker, 363-Switch button, 364-Microcontroller, 365-Card reader chip, 366-Buzzer, 367-Multi-color status indicator light, 368-Wire harness interface contact, 369-Battery, 4-Robotic surgical instrument component, 41-Robotic surgical instrument body, 42-Second cannula needle, 43-Medical film, 44-Induction coil label, 45-Anti-metal interference patch. Detailed Implementation

[0031] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] Example 1 like Figures 1-13 As shown, the present invention provides a support and stabilization device for integrating collision warning function in robotic surgery, including an assistant instrument component 3, a robotic surgical instrument component 4, and a multi-degree-of-freedom support mechanism 2 for supporting the assistant instrument component 3.

[0035] The assistant instrument component 3 includes an assistant instrument body 31. An antenna module 32 is located at the lower end of the long arm of the assistant instrument body 31. The antenna module 32 contains a ferrite core and a spiral induction coil, operating at a frequency of 13.56MHz ± 0.5MHz. The surface of the antenna module 32 is encapsulated with a polyimide film 321. The encapsulated antenna module 32 is then adhered and fixed to the lower end of the long arm of the assistant instrument body 31 using a medical film 322. A first set of cannula needles 33 (5-10mm) is inserted through the long arm of the assistant instrument body 31. (trocar), after fixation, the lower end of the long arm of the assistant instrument body 31 enters the patient's body through the first cannula 33; the upper end of the antenna module 32 is connected to a high-temperature silicone-encapsulated radio frequency harness 34, which extends out of the patient's body along the long arm of the assistant instrument body 31 through the first cannula 33. The part of the high-temperature silicone-encapsulated radio frequency harness 34 outside the patient's body is fixed to the long arm of the assistant instrument body 31 outside the body through a double-sided snap-fit ​​structure 341; the external part of the high-temperature silicone-encapsulated radio frequency harness 34 includes a spring harness segment 342, the tail end of which is provided with a magnetic coupling structure 35. The tail end of the radio frequency harness 34 is electrically connected to the baseband processing unit through the magnetic coupling structure 35. The magnetic coupling structure 35 is provided with a concentric circle contact ring assembly 351 inside, and a Halbach array permanent magnet 352 is fixed outside the concentric circle contact ring assembly 351; the magnetic coupling structure 35 can be magnetically connected to the baseband processing unit 6 in the multi-degree-of-freedom support mechanism 2.

[0036] The baseband processing unit 6 has a housing and is provided with an indicator light opening 361, a speaker 362, and a switch button 363. The internal circuit board of the baseband processing unit 36 ​​integrates a microcontroller 364, a card reader chip 365, a battery 369, a buzzer 366, a multi-color status indicator light 367, and a wire harness interface contact 368. The buzzer 366 is corresponding to and fixed on the speaker 362 on the housing of the baseband processing unit 36, the multi-color status indicator light 367 is corresponding to and fixed on the indicator light opening 361 on the housing of the baseband processing unit 36, and the wire harness interface contact 368 is corresponding to and fixed on the switch button 363 on the housing of the baseband processing unit 36.

[0037] The robotic surgical instrument component 4 includes a robotic surgical instrument body 41. The lower part of the long arm of the robotic surgical instrument body 41 can be inserted into the patient's body through a second cannula 42 (5-10mm trocar). The lower part of the long arm of the robotic surgical instrument body 41 is encapsulated with multiple sets of induction coil tags 44. Each set of induction coil tags 44 has an anti-metal interference patch 45 attached to its outer side. The induction coil tags 44 can be wrapped and pasted to the lower long arm of the robotic surgical instrument body 41 with a medical film 43. The multiple induction coil tags 44 are distributed in a matrix along the circumference of the long arm of the robotic surgical instrument body 41. The distance between any two adjacent induction coil tags 44 is less than or equal to 15mm, and the coverage area accounts for more than 90% of the instrument contact surface. The specific number used can be selected adaptively. Each set of induction coil tags 44 has an anti-metal interference patch 45 attached to its outer side. The medical film is used to further fix the induction coil tags 44 and the anti-metal interference patch 45, making them more stable.

[0038] The multi-degree-of-freedom support mechanism 2 includes a roller guide rail 15, which is horizontally adjustable and slidably mounted on a side guide rail 12 on the side of the operating table 1. Specifically, the side guide rail 12 has sliding blocks 11 corresponding to the two ends of the roller guide rail 15. Each end of the roller guide rail 15 has a rod 14 inserted into its corresponding sliding block 11. A tightening knob 13 (with a through hole on the rod 14) is screwed onto each sliding block 11, and the inner side of the tightening knob 13 abuts against the side guide rail 12. A movable base 18 is slidably mounted on the roller guide rail 15. Rollers 17, which cooperate with the roller guide rail 15, are symmetrically mounted on both sides of the bottom of the movable base 18, enabling stable movement of the movable base 18 on the roller guide rail 15. Limiters 16 are provided on both sides of the movable base 18 on the roller guide rail 15 to limit the range of movement of the movable base 18 during surgery.

[0039] The top of the movable base 18 is detachably equipped with a folding rod assembly 23, which allows the crossbar 25 to be adjusted in height at will. The folding rod assembly 23 includes a plug block 21, a first connecting rod 233 and a second connecting rod 236 that are hinged together in sequence. The baseband processing unit is set on the second connecting rod 236. The hinge point between the plug block 21 and the first connecting rod 233 is a first movable joint 231. A first adjustment knob 232 is provided at the first movable joint 231. The hinge point between the first connecting rod 233 and the second connecting rod 236 is a second movable joint 234. A second adjustment knob 235 is provided at the second movable joint 234. The top of the movable base 18 is provided with a plug interface. The plug block 21 is inserted into the plug interface. The plug block 21 is provided with elastic limiting protrusions 22 on both sides. The plug interface is provided with limiting holes 19 on both sides that correspond to the two limiting protrusions respectively. When the plug block 21 is inserted into the plug interface, the plug block 21 can be fixed at the top of the movable base 18.

[0040] The end of the second connecting rod 236 away from the first connecting rod 233 is connected to the crossbar 25 through a ball joint structure 24. A hinge seat 241 is fixedly installed at the end of the second connecting rod 236 away from the first connecting rod 233. The bottom end of the hinge seat 241 has a ball socket structure that mates with the crossbar 25. The bottom end of the crossbar 25 has a ball head 253 that mates with the ball socket structure. A locking knob 242 that can penetrate into the ball socket structure and abut against the ball head 253 is screwed and installed on the hinge seat 241. Multiple Y-shaped instrument support forks 252 are inserted into the crossbar 25 at intervals along its axial direction. Several couplings 251 are equally spaced at the top of the crossbar 25 along its axial direction. The instrument support forks 252 are rotatably inserted into the couplings 251.

[0041] Once the patient is fully anesthetized, the surgeon performs routine disinfection and draping. After adjusting the positions of the robotic surgical instruments according to the type of surgery, the assistant installs two sliding blocks 11 on the side guide rail 12 of the operating table 1. The spacing between these blocks is set according to the length of the roller guide rail 15. Specifically, the inserts 14 at both ends of the roller guide rail 15 correspond to the embedded sliding blocks 11. After adjusting the roller guide rail 15 to the required position according to the specific requirements of different surgeries, the assistant secures the roller guide rail 15 to the operating table 1 by turning the tightening knob 13. Simultaneously, depending on the specific surgical procedure, the assistant adjusts... The limiter 16 on the roller guide 15 allows the roller guide 15 to move within a certain range, ensuring that after the multi-degree-of-freedom support mechanism 2 is installed, the multi-degree-of-freedom support mechanism 2 and the robotic arm of the surgical robot maintain a safe distance of ≥150mm, avoiding the risk of collision during surgery; after the non-sterile area components (roller guide 15, moving base 18, etc.) are installed, the assistant on the table holds the folding rod assembly 23 and inserts the plug block 21 into the plug interface at the top of the moving base 18. The elastic limiting protrusions 22 on both sides of the plug block 21 can be fixed by cooperating with the limiting port 19.

[0042] According to the required puncture point, 5-10mm trocars corresponding to the assistant instrument component 3 and the robotic surgical instrument component 4 are routinely inserted. Then, the assistant instrument body 31 is installed. The antenna module 32, encapsulated with a polyimide film 321, is attached to the lower end of the long arm of the assistant instrument body 31 using a medical film; the specific position can be selected according to the actual situation. The high-temperature silicone-encapsulated RF harness 34 is brought close to the long arm of the assistant instrument body 31, and the high-temperature silicone-encapsulated RF harness 34 is further secured to the long arm of the assistant instrument body 31 using a double-sided snap-fit ​​structure 341. At the same time, the magnetic coupling structure 35 at the tail end of the high-temperature silicone-encapsulated RF harness 34 is connected to the baseband processing unit on the multi-degree-of-freedom support mechanism 2. The switch button on the baseband processing unit is turned on. At this time, the buzzer sounds through the speaker, and the multi-color status indicator flashes once through the indicator light opening 361 to indicate that the connection is complete and the device starts working.

[0043] When all instruments operated by the assistant are within the field of vision, the assistant can reduce audio-visual interference in specific situations by turning off the switch button on the baseband processing unit 36.

[0044] The core advantage of this solution lies in the extremely wide coverage of the fixed spatial positions of the multi-degree-of-freedom support mechanism 2, enabling full coverage of the target area. Specifically, through a carefully designed combined structure, this solution achieves flexible and stable position locking capabilities in three-dimensional space (X, Y, and Z axes). In the X-axis direction, the integrated high-precision roller guide 15 system provides a wide range of smooth linear displacement capabilities, ensuring that the instrument can move precisely along this axis and be reliably fixed at any desired position. For the Y-axis direction, the folding rod assembly 23 adopts a double-joint structure, which has significant longitudinal extension and retraction characteristics, allowing for convenient adjustment and locking of the instrument's position in vertical height, effectively covering a wide range along this axis. Furthermore, to further enhance adaptability and fixation capabilities in the Y and Z axes, the solution incorporates universal joint adjustment and multiple couplings 251 distributed at key nodes on the crossbar 25. The hinge seat 241 allows for free deflection and fine-tuning of the instrument's end effector at multiple angles, while the multiple couplings 251 provide discrete and powerful clamping points. The synergistic effect of these two elements not only enhances the coverage density and flexibility of the dual movable joints along the Y-axis, but more importantly, it enables precise positioning and secure locking along the Z-axis (depth or lateral direction). This X, Y, and Z-axis linkage and complementary design ultimately constructs a support system that achieves three-dimensional, omnidirectional fixation, ensuring that the instrument can be quickly, accurately, and stably fixed at any desired location within the target space. In addition, the support frame integrates a baseband processing unit. After connecting with the antenna unit, a collision warning is triggered when the main body 41 of the robotic surgical instrument and the main body 31 of the assistant instrument are too close. After the card reader chip recognizes the signal, it communicates with the microcontroller through the serial port, thereby controlling the buzzer and multi-color status indicator. The first-level warning (1-2cm) triggers a 400Hz low-frequency buzzer and a slow blue flashing indicator light. The second-level warning (0.5-1cm) upgrades to an 800Hz pulse buzzer and a fast yellow flashing indicator light. The third-level warning (<0.5cm) activates a 1kHz high-frequency buzzer and a solid red light on the multi-color status indicator light. This mechanism achieves a response within 0.5 seconds through hierarchical audio-visual linkage, providing intuitive operation guidance for the surgeon and assistant, and significantly reducing the risk of tissue tearing during deep operations.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A support and stabilization device with integrated collision warning function for use in robotic surgery, characterized in that, The system includes an assistant instrument component, a robotic surgical instrument component, and a multi-degree-of-freedom support mechanism for supporting the assistant instrument component. The assistant instrument component includes an assistant instrument body, the lower part of which is encapsulated with an antenna module. A first set of tube needles is inserted through the long arm of the assistant instrument body. A baseband processing unit is integrated and installed on the multi-degree-of-freedom support mechanism. The antenna module is electrically connected to the baseband processing unit through a radio frequency harness. The robotic surgical instrument component includes a robotic surgical instrument body, the lower part of which is encapsulated with multiple sets of induction coil tags. Each set of induction coil tags has an anti-metal interference patch affixed to its outer side.

2. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 1, characterized in that, The antenna module and the induction coil are respectively fixed to the long arm of the assistant instrument body and the long arm of the robotic surgical instrument body through medical films.

3. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 1, characterized in that, The radio frequency harness includes a spring harness segment, and the tail end of the radio frequency harness is electrically connected to the baseband processing unit through a magnetic coupling structure. The magnetic coupling structure includes a concentric circle contact ring assembly, and a Halbach array permanent magnet is fixed to the outside of the concentric circle contact ring assembly.

4. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 1, characterized in that, Multiple induction coil tags are arranged in a matrix along the circumference of the long arm of the robotic surgical instrument body, with the spacing between any two adjacent induction coil tags being less than or equal to 15 mm.

5. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 1, characterized in that, The multi-degree-of-freedom support mechanism includes a roller guide rail, which is horizontally adjustable and slidably mounted on a side guide rail on the side of the operating table. A movable base is slidably mounted on the roller guide rail. Rollers that cooperate with the roller guide rail are symmetrically mounted on both sides of the bottom end of the movable base. Limiters are provided on both sides of the movable base on the roller guide rail. A folding rod assembly is detachably mounted on the top of the movable base. A crossbar is ball-jointed to the top of the folding rod assembly. Multiple instrument support forks are inserted axially at intervals on the crossbar.

6. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 5, characterized in that, Sliding blocks corresponding to both ends of the roller guide are slidably installed on the side guide rail. Insert rods are provided at both ends of the roller guide rail. The two insert rods are respectively inserted into the corresponding sliding blocks. A tightening knob that passes through the insert rod is screwed onto the sliding block. The inner side of the tightening knob can abut against the side guide rail.

7. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 5, characterized in that, The folding rod assembly includes a plug block, a first connecting rod, and a second connecting rod that are hinged together in sequence. A first adjustment knob is provided at the hinge point between the plug block and the first connecting rod, and a second adjustment knob is provided at the hinge point between the first connecting rod and the second connecting rod. The top of the movable base is provided with a plug interface, and the plug block is inserted into the plug interface. A hinge seat is fixedly installed at the end of the second connecting rod away from the first connecting rod. The bottom end of the hinge seat has a ball joint structure that cooperates with the crossbar. The bottom end of the crossbar has a ball head that cooperates with the ball joint structure. A locking knob that can penetrate into the ball joint structure and abut against the ball head is screwed onto the hinge seat.

8. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 5, characterized in that, The top of the crossbar is provided with several connectors at equal intervals along its axial direction, and the instrument support fork is rotatably inserted into the connectors.

9. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 7, characterized in that, The plug block has symmetrical elastic limiting protrusions on both sides, and the plug interface has limiting openings on both sides that correspond to the two limiting protrusions respectively.

10. The support and stabilization device for integrating collision warning function in robotic surgery according to claim 5, characterized in that, The instrument support fork has a Y-shaped structure.

Images