Surgical instrument switching system and switching method for humanoid robot

Abstract

The invention provides a surgical instrument switching system and method for a humanoid robot. The system comprises a plurality of surgical instruments, a robot and an instrument library. The robot comprises a mechanical arm, the mechanical arm comprises a connecting part, the connecting part is used for being detachably connected with the surgical instrument, the connecting part is provided with a touch switch, and the touch switch is used for responding to target operation for the touch switch so that the connecting part can be separated from the surgical instrument. The instrument library is used for storing a plurality of surgical instruments and comprises a first body and a second body, and the first body is sleeved with the second body; the unloading mechanism is arranged on the lower portion, located on the second body, of the first body, the unloading mechanism is provided with a target space for containing the connecting part, and the unloading mechanism is suitable for executing target operation on the touch switch under the condition that the connecting part is located in the target space; the storage mechanism is arranged on the second body, and the storage mechanism is suitable for storing the surgical instruments separated from the connecting part and installing the stored surgical instruments to the connecting part.

Description

Technical Field

[0001] This application relates to the field of medical robot and automated dressing technology, and more specifically, to a surgical instrument switching system and switching method for a humanoid robot. Background Technology

[0002] In the field of robot-assisted surgery, the surgical procedure often requires the coordinated operation of multiple instruments, such as frequent switching between steps like tissue separation, electrocoagulation hemostasis, and suturing. Therefore, rapid, reliable, and aseptic instrument switching during surgery has become a clinical necessity, as its efficiency and stability directly affect the smoothness of the surgical procedure, operational precision, and even overall safety. Currently, traditional surgical instrument switching methods mainly rely on manual operation, resulting in low switching efficiency. Summary of the Invention

[0003] In view of this, this application provides a surgical instrument switching system and switching method for humanoid robots.

[0004] One aspect of this application provides a surgical instrument switching system for a humanoid robot, the system comprising: multiple surgical instruments; a robot including: a robotic arm, the robotic arm including a connector adapted for detachable connection with the surgical instruments, the connector being provided with a touch switch adapted to respond to a target operation on the touch switch to separate the connector from the surgical instruments; an instrument magazine adapted to store multiple surgical instruments, the instrument magazine including: a first body and a second body, the second body being fitted onto the first body; an unloading mechanism disposed on the first body at the lower part of the second body, the unloading mechanism having a target space for accommodating the connector, the unloading mechanism being adapted to perform a target operation on the touch switch when the connector is in the target space; and a storage mechanism disposed on the second body, the storage mechanism being adapted to store surgical instruments that have been separated from the connector and to install the stored surgical instruments onto the connector.

[0005] According to an embodiment of this application, the storage mechanism includes multiple storage mechanisms, which are spaced apart on the second body; the second body is configured to rotate around the first body so that the different storage mechanisms can be adjusted to match the positions of the unloading mechanism respectively through the rotation of the second body.

[0006] According to an embodiment of this application, a surgical instrument includes an instrument body and a connector connected to the instrument body; the connector is adapted to cooperate with a connecting part to lock the connecting part and the surgical instrument, and to disengage the surgical instrument from the connecting part after a target operation is performed on a touch switch.

[0007] According to an embodiment of this application, the connector is provided with a protrusion, and the connector is provided with a groove that mates with the protrusion. The protrusion is adapted to be embedded in the groove under the weight of the surgical instrument itself.

[0008] According to an embodiment of this application, the storage mechanism includes: a retractable first clamping part, which is adapted to extend in a direction away from the first body and clamp a surgical instrument that has been separated from the connecting part when the connecting part is in the target space; and to retract in a direction close to the first body and release the clamped surgical instrument so that the protrusion of the connecting member is embedded in the groove of the connecting part located in the target space under the action of gravity.

[0009] According to an embodiment of this application, the unloading mechanism includes: a second clamping part having two clamping arms forming a target space between the two clamping arms; a sensing device disposed on at least one clamping arm, the sensing device being adapted to generate a target signal when the connecting part is detected to be in the target space; and a driving part adapted to drive the two clamping arms to apply pressure to the touch switch in response to the target signal to perform a target operation.

[0010] According to an embodiment of this application, a reference marker is provided on the surface of the first body on the same side as the unloading mechanism; the robotic arm also includes a camera device adapted to capture an image of the reference marker as the robot approaches the instrument storage; and a controller adapted to determine the pose information of the robotic arm relative to the instrument storage based on a predetermined spatial mapping relationship between the image, the reference marker, and the robotic arm.

[0011] According to embodiments of this application, the controller is also adapted to control the robotic arm to move the connecting part to the target space based on pose information.

[0012] Another aspect of this application provides a method for switching surgical instruments for a humanoid robot, applicable to the aforementioned surgical instrument switching system for a humanoid robot. The method includes: in response to receiving a target instruction, controlling the connecting part at the end of a robotic arm to move to the target space of an unloading mechanism in an instrument storage compartment; controlling the unloading mechanism to perform a target operation on a touch switch of the connecting part to separate the connecting part from a first surgical instrument, and controlling a first storage mechanism that has not stored a surgical instrument to store the first surgical instrument; controlling a second body to rotate relative to the first body, and matching the position of the second storage mechanism that has stored a second surgical instrument with the position of the unloading mechanism; and controlling the second storage mechanism to release the second surgical instrument so that the second surgical instrument connects to the connecting part.

[0013] According to an embodiment of this application, in response to receiving a target instruction, controlling the connecting part at the end of the robotic arm to move to the target space of the unloading mechanism of the instrument storage includes: in response to receiving the target instruction, using a camera device of the connecting part to acquire an image of a reference marker of the second body; determining the pose information of the connecting part relative to the instrument storage based on a predetermined spatial mapping relationship between the image, the reference marker and the connecting part; and controlling the connecting part to move to the target space according to the pose information.

[0014] According to embodiments of this application, a touch switch is installed at the connecting part of the robotic arm's end effector, and an unloading mechanism and a storage mechanism are provided in the instrument storage area. After detecting that the connecting part is in the target space of the unloading mechanism, the unloading mechanism performs a target operation on the touch switch, causing the surgical instrument and the connecting part to separate, thereby allowing for the replacement of the surgical instrument. This achieves autonomous unloading and replacement of surgical instruments. The complex process of changing instruments is transformed into a standardized pose detection and dwell process, thereby improving the reliability and efficiency of surgical instrument replacement while reducing the complexity of the robot control algorithm. Attached Figure Description

[0015] The above and other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0016] Figure 1 A surgical instrument switching system for a humanoid robot according to an embodiment of this application is shown;

[0017] Figure 2 An exploded view of the connection between the connector and the surgical instrument according to an embodiment of this application is shown;

[0018] Figure 3 A connection principle diagram of the connecting part and the connecting member according to an embodiment of this application is shown;

[0019] Figure 4 A schematic diagram of the overall structure of the instrument library according to an embodiment of this application is shown;

[0020] Figure 5 A method for switching surgical instruments for a humanoid robot according to an embodiment of this application is shown.

[0021] 1. Surgical instruments;

[0022] 11. The instrument itself;

[0023] 12. Connectors;

[0024] 2. Robot;

[0025] 21. Connecting part;

[0026] 22. Touch switch;

[0027] 23. Drive components;

[0028] 24. Groove;

[0029] 3. Instrument storage room;

[0030] 31. The first ontology;

[0031] 32. Second entity;

[0032] 33. Unloading mechanism;

[0033] 34. Storage facility;

[0034] 35. Reference Marker. Detailed Implementation

[0035] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known institutions and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0036] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0037] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0038] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0039] Figure 1 A surgical instrument switching system for a humanoid robot according to an embodiment of this application is shown.

[0040] According to the surgical instrument switching system for humanoid robots provided in this application, such as Figure 1As shown, the system includes: multiple surgical instruments 1, a robot 2, and an instrument storage 3. The robot 2 includes a robotic arm with a connecting part 21, which is detachably connected to the surgical instruments 1. The connecting part 21 is equipped with a touch switch 22, which is adapted to separate the connecting part 21 from the surgical instruments 1 in response to a target operation on the touch switch 22. The instrument storage 3 is used to store multiple surgical instruments 1 and includes a first body 31 and a second body 32. The second body 32 is fitted onto the first body 31. An unloading mechanism 33 is located on the first body 31 below the second body 32. The unloading mechanism 33 has a target space for accommodating the connecting part 21 and is adapted to perform a target operation on the touch switch 22 when the connecting part 21 is within the target space. A storage mechanism 34 is located on the second body 32 and is adapted to store surgical instruments 1 that have been separated from the connecting part 21 and to install the stored surgical instruments 1 back onto the connecting part 21.

[0041] Multiple surgical instruments 1 are various instruments required during the operation, including but not limited to scalpels, tissue forceps, suture needles, needle holders, scissors, etc. Each surgical instrument 1 has a connection structure at its tail that is adapted to the connection part 21 of the robot 2, ensuring that it can be stably connected to the connection part 21 and is easy to separate.

[0042] Robot 2 can be a humanoid robot with surgical operation functions. The core operating component of the humanoid robot is a robotic arm. The robotic arm can rotate and move with multiple degrees of freedom according to the surgical needs, so as to drive the surgical instruments 1 to complete various surgical operations.

[0043] The robotic arm has a connecting part 21 at its end. The connecting part 21 can be a cylindrical structure, and its tail end face is provided with a connecting interface adapted to the connecting structure of the surgical instrument 1, so that the connecting part 21 can be detachably connected to the surgical instrument 1.

[0044] The touch switch 22 can be located on the side of the connecting part 21. The touch switch 22 can be a push-button touch switch 22. When the touch switch 22 is pressed (i.e., the target operation), it can trigger the connection structure between the connecting part 21 and the surgical instrument 1 to unlock, so that the connecting part 21 is separated from the surgical instrument 1. When it is not pressed, the connecting part 21 and the surgical instrument 1 remain stably connected.

[0045] The first body 31 can be a cylindrical structure, and the second body 32 can be an annular sleeve structure with an inner diameter slightly larger than the outer diameter of the first body 31, so that the second body 32 can be tightly fitted onto the outside of the first body 31. The height of the first body 31 is greater than the height of the second body 32, so that the lower part of the first body 31 extends below the second body 32, and the unloading mechanism 33 is disposed on this extended part of the first body 31.

[0046] The unloading mechanism 33 may be equipped with a pressing component for performing the target operation. The position of the pressing component corresponds to the position of the touch switch 22 on the connecting part 21. When the connecting part 21 is fully extended into the target space, the pressing component can correspond exactly to the touch switch 22. By applying a pressing operation (i.e. the target operation) to the touch switch 22, the connecting part 21 is triggered to separate from the surgical instrument 1.

[0047] The storage mechanism 34 can be arranged circumferentially along the second body 32. During the process of storing the surgical instrument 1 that has been separated from the connecting part 21 using the storage mechanism 34, the storage mechanism 34 can move to a position that matches the surgical instrument 1 to automatically collect and store the surgical instrument 1. Alternatively, during the process of installing the stored surgical instrument 1 to the connecting part 21, the storage mechanism 34 can move to a position that matches the connecting part 21, so that the connecting part 21 and the surgical instrument 1 can be connected.

[0048] According to embodiments of this application, a touch switch is installed at the connecting part of the robotic arm's end effector, and an unloading mechanism and a storage mechanism are provided in the instrument storage area. After detecting that the connecting part is in the target space of the unloading mechanism, the unloading mechanism performs a target operation on the touch switch, causing the surgical instrument and the connecting part to separate, thereby allowing for the replacement of the surgical instrument. This achieves autonomous unloading and replacement of surgical instruments. The complex process of changing instruments is transformed into a standardized pose detection and dwell process, thereby improving the reliability and efficiency of surgical instrument replacement while reducing the complexity of the robot control algorithm.

[0049] Figure 2 An exploded view of the connection between the connector 21 and the surgical instrument 1 according to an embodiment of this application is shown.

[0050] According to embodiments of this application, such as Figure 2 As shown. The surgical instrument 1 includes an instrument body 11 and a connector 12 connected to the instrument body 11; the connector 12 is adapted to cooperate with the connecting part 21 to lock the connecting part 21 and the surgical instrument 1, and to disengage the surgical instrument 1 from the connecting part 21 after a target operation is performed on the touch switch 22.

[0051] The connecting part 21 may include a motor mounting bracket for connecting to the wrist of the humanoid robot 2 and a drive component 23 disposed on the motor mounting bracket. The drive component 23 may be multiple miniature drive motors. The number of motors can be configured according to the required degrees of freedom of motion of the surgical instrument 1. In some examples, considering that the wrist of the humanoid robot 2 itself already has multiple degrees of freedom of motion, the required degrees of freedom of motion of the surgical instrument 1 itself can be simplified compared with a traditional dedicated surgical robot 2, thereby reducing the end effector load and improving overall dexterity.

[0052] An integrated quick-change drive interface is formed at the front end of the connecting part 21. The quick-change drive interface is integrated with the drive component and simultaneously undertakes the functions of quick connection and power transmission of instruments. The quick-change drive interface may integrate a mechanical locking mechanism for quick and reliable fixation during instrument installation; at the same time, the quick-change drive interface is provided with a power output structure to achieve automatic power docking between the drive component 23 and the surgical instrument 1 while locking is completed.

[0053] The structure of connector 12 matches the quick-change drive interface of connector 21. Connector 12 has a power input end and a passive locking structure corresponding to the quick-change drive interface. When surgical instrument 1 is installed into connector 21, the adapter of surgical instrument 1 and quick-change drive interface are quickly fixed under the action of the locking mechanism, and the power input end and power output end are automatically connected.

[0054] Specifically, the output shaft of the drive component 23 is connected to the transmission structure inside the quick-change drive interface via a drive shaft, and the end of the drive shaft constitutes the power output end. In some examples, the end face of the connecting part 21 is provided with a protruding structure of a specific shape, which is used to form a shape fit with the power input end of the connecting member 12, thereby forming a power transmission path with high rigidity and small transmission clearance after the quick change is completed.

[0055] The end face of connector 12 is provided with a recessed structure that matches the protruding structure of the power output end, enabling direct torque transmission through the interlocking of the protrusion and recess. This structure avoids complex intermediate transmission links, allowing the power of the drive motor to be transmitted to the instrument via a shorter path. This effectively reduces transmission backlash and energy loss, thereby improving the response speed and control precision of surgical instrument 1.

[0056] In some examples, the surgical instrument 1 has a wire drive mechanism inside its body. The active end of the wire drive mechanism is connected to the power input end in the instrument adapter, which is used to convert the rotational motion of the drive motor into linear traction or swinging motion of the instrument end, thereby realizing the opening and closing, clamping, or other operation functions of the instrument end. Combining the existing multi-degree-of-freedom motion capability of the wrist of the humanoid robot 2, the joint structure inside the instrument has been specifically simplified, making the instrument rod structure more compact and shorter, effectively reducing the end weight and improving the overall rigidity.

[0057] When the quick-change drive interface of the connecting part 21 mates with the connector of the connector 12, the power output end and the power input end automatically couple while mechanical locking is completed. Subsequently, by controlling the drive motors on the two sides of the robot, the power is directly transmitted to the wire drive mechanism inside the instrument through the quick-change interface, realizing precise control of the end effector movement of the surgical instrument 1.

[0058] Figure 3A schematic diagram illustrating the connection principle of the connecting part 21 and the connector 12 according to an embodiment of this application is shown.

[0059] According to embodiments of this application, such as Figure 3 As shown, the connector 12 is provided with a protrusion, and the connector 21 is provided with a groove 24 that mates with the protrusion. The protrusion is adapted to be embedded in the groove 24 under the weight of the surgical instrument 1.

[0060] like Figure 3 As shown, the connector 12 may have an input end face and an output end face. The input end face is used for detachable connection with the connector 21, and the output end face is used for connection with the instrument body 11. The left and right sides of the input end face may each have a protrusion, and the sides of the connector 21 may each have a corresponding groove 24. The protrusion may have a chamfered structure. Through the chamfered structure, when the surgical instrument 1 falls onto the connector 21 under gravity, it can automatically embed into the groove 24, thereby locking the connector 21 and the surgical instrument 1.

[0061] The touch switch 22 can be positioned close to the groove 24 and respectively located on both sides of the connecting part 21. The touch switch 22 can adopt a passive locking mechanism. When the touch switch 22 is pressed, the internal locking mechanism is pressed, causing the protrusion to pop out from the groove 24, thereby separating the surgical instrument 1 from the connecting part 21. Similarly, the output section of the connector 12 can also adopt the same design as the input section and be detachably connected to the instrument body 11.

[0062] According to the embodiments of this application, by providing a universal connector 12 at the bottom of the instrument body 11, various different instruments can be replaced. Through the concave-convex fit between the connector 21 and the connector 12, the separation and installation of the connector 21 and the connector 12 can be completed quickly and stably, improving the installation efficiency of the surgical instrument 1.

[0063] Figure 4 A schematic diagram of the overall structure of the instrument library 3 according to an embodiment of this application is shown.

[0064] According to an embodiment of this application, a reference mark 35 is provided on the surface of the first body 31 on the same side as the unloading mechanism 33; the robotic arm also includes a camera device, which is adapted to capture an image of the reference mark 35 as the robot 2 approaches the instrument storage 3; and a controller, which is adapted to determine the pose information of the robotic arm relative to the instrument storage 3 based on a predetermined spatial mapping relationship between the image, the reference mark 35 and the robotic arm.

[0065] Reference mark 35 refers to a mark set on a specific surface of the first body 31, used to provide a reference for the positioning and pose determination of the robotic arm. Reference mark 35 can be in the form of a specific pattern, symbol, QR code, etc., and can be recognized and image captured by a camera device.

[0066] In some examples, the system may also include a head-mounted display (HMD) and a remote control. The HMD can display images captured by a camera, and the remote control can move the robot 2. The operator can first control the robot 2 to move towards the equipment storage 3 using both the HMD and the remote control. Once the reference marker 35 is captured, the operator can switch from manual control to automatic control of the robot 2. The robot 2 will then automatically determine its pose relative to the equipment storage 3 based on the image information from the reference marker 35. This allows for a smooth transition between manual and automatic control.

[0067] Pose information can include six degrees of freedom pose information of the connecting part 21 at the end of the arm. Six degrees of freedom pose refers to six parameters such as the translational position of an object along the three axes of X, Y, and Z in three-dimensional space, and the rotational attitude around the three axes of X, Y, and Z. Six degrees of freedom pose information is used to uniquely determine the spatial position and orientation of the object.

[0068] The predetermined spatial mapping relationship describes the mathematical correspondence between the position and orientation of the reference marker 35 in space and the positions of the various joints of the robotic arm and the overall pose. The predetermined spatial mapping relationship can be determined through pre-calibration.

[0069] After receiving the image containing reference marker 35 captured by the camera device, the controller can use image processing algorithms to analyze the image and identify the specific features and position information of reference marker 35 in the image. Then, combined with the pre-set spatial mapping relationship between reference marker 35 and the robotic arm, the controller can further determine the pose information of the robotic arm relative to the instrument library 3, including the position (such as three-dimensional coordinates) and attitude (such as rotation angle) of the robotic arm in space.

[0070] According to an embodiment of this application, the controller is also adapted to control the robotic arm to move the connecting part 21 to the target space based on the pose information.

[0071] Controlling the robotic arm to move the connecting part 21 to the target space based on the pose information may include adjusting the posture of the connecting part 21 according to the position information, so that the posture of the connecting part 21 is adjusted to meet the predetermined posture for entering the target space, and then moving the connecting part 21 to the target space after the connecting part 21 is in the predetermined posture.

[0072] According to an embodiment of this application, a reference mark 35 is provided on the same side surface of the first body 31 and the unloading mechanism 33. The robotic arm equipped with a camera device can acquire its image when it is close to the instrument library 3. The controller determines the pose information of the robotic arm relative to the instrument library 3 based on the image, the reference mark 35 and the predetermined spatial mapping relationship between the robotic arms, so as to accurately obtain the pose of the robotic arm and facilitate accurate subsequent operation.

[0073] According to an embodiment of this application, the storage mechanism 34 includes a plurality of storage mechanisms 34, which are spaced apart on the second body 32; the second body 32 is configured to rotate around the first body 31 so that the different storage mechanisms 34 can be adjusted to match the positions of the unloading mechanism 33 by the rotation of the second body 32.

[0074] For example, multiple storage mechanisms 34 can be evenly arranged along the circumference of the second body 32. The second body 32 can be rotated by a target angle so that each storage mechanism 34 is aligned with the unloading mechanism 33 in sequence, that is, the storage mechanism 34 is exactly above the unloading mechanism 33.

[0075] In some embodiments, the order of use of each surgical instrument 1 during surgery can be determined first. According to the order of use of each surgical instrument 1, multiple surgical instruments 1 are sequentially placed in multiple corresponding storage mechanisms 34. Each time a surgical instrument 1 is replaced, the second body 32 can be rotated according to the predetermined order of use, thereby enabling the surgical instruments 1 to be replaced in an accurate surgical sequence.

[0076] According to an embodiment of this application, the storage mechanism 34 includes a retractable first clamping part, which is adapted to extend in a direction away from the first body 31 and clamp the surgical instrument 1 that has been separated from the connecting part 21 when the connecting part 21 is in the target space; and to retract in a direction close to the first body 31 and release the clamped surgical instrument 1, so that the protrusion of the connecting member 12 is embedded in the groove 24 of the connecting part 21 located in the target space under the action of gravity.

[0077] The first clamping part can be composed of two clamping arms, which can extend and retract back and forth. During the process of storing the surgical instrument 1 using the storage mechanism 34, when the connecting part 21 is in the target space, the retractable first clamping part of the storage mechanism 34 can extend in a direction away from the first body 31. During this process, the first clamping part will gradually approach the surgical instrument 1, which has been separated from the connecting part 21, and then clamp the surgical instrument 1 to fix it in place.

[0078] Specifically, when the connecting part 21 is in the target space, the height of the connecting piece 12 of the surgical instrument 1 matches that of the first clamping part, and a receiving space for accommodating the connecting piece 12 is formed between the two clamping arms. The bottom of the two clamping arms may have a base plate for supporting the surgical instrument 1. As the first clamping part moves, the connecting piece 12 can be gradually accommodated into the receiving space between the two clamping arms. At this time, the robotic arm can perform a retraction action in a preset straight line, realizing the complete separation of the instrument from the base of the robot 2, and safely and stably leaving the old instrument in the storage location.

[0079] During the process of installing the surgical instrument 1 in the storage mechanism 34 into the connecting part 21, when the connecting part 21 is in the target space, the retractable first clamping part of the storage mechanism 34 can retract in the direction close to the first body 31. During this process, the connector 12 can be withdrawn from the receiving space. The surgical instrument 1, without external clamping, falls vertically downward into the connecting part 21 of the robotic arm by its own gravity, and under the action of gravity, the protrusion of the connector 12 is embedded into the groove 24 of the connecting part 21.

[0080] According to the embodiments of this application, by providing a retractable first clamping part, when the connecting part 21 is in the target space, the first clamping part can extend away from the first body 31 to clamp the surgical instrument 1 that is separated from the connecting part 21, or it can retract and release the surgical instrument 1 in the direction close to the first body 31. By means of gravity, the protruding part of the connecting member 12 is embedded into the groove 24 of the connecting part 21. Thus, the reliable storage of the surgical instrument 1 and the quick docking of the connecting part 21 can be achieved.

[0081] According to an embodiment of this application, the unloading mechanism 33 includes a second clamping part, a sensing device, and a driving part. The second clamping part has two clamping arms forming a target space between the two clamping arms; the sensing device is disposed on at least one clamping arm, and the sensing device is adapted to generate a target signal when the connecting part 21 is detected to be in the target space; the driving part is adapted to drive the two clamping arms to apply pressure to the touch switch 22 in response to the target signal to perform a target operation.

[0082] The second clamping part has two clamping arms arranged opposite each other. The two clamping arms are symmetrically distributed and naturally form a target space that is adapted to the connecting part 21 of the robotic arm. The size of the target space can be finely adjusted by moving the clamping arms, which can ensure that the connecting part 21 can enter smoothly and achieve tight fitting and positioning after the connecting part 21 is in place, so as to avoid the connecting part 21 from shaking during the unloading process.

[0083] A sensing device is installed on at least one clamping arm. The sensing device can be a proximity sensor, a vehicle switch, or a pressure sensor. The detection end of the sensing device faces the target space and is suitable for real-time detection of the presence of the connecting part 21 in the target space. When the sensing device detects that the connecting part 21 has fully entered the target space and is in place, it immediately generates a target electrical signal. This target signal serves as the start command for the drive unit, ensuring accurate triggering of the unloading operation and avoiding misoperation caused by the connecting part 21 not being in place.

[0084] Each of the two gripping arms has two protruding pressing parts inside. These pressing parts correspond to the position of the touch switch 22 when the connecting part 21 is in the target space. The drive unit is driven to the two gripping arms and electrically connected to the sensing device. It is used to respond to the target signal emitted by the sensing device, drive the two gripping arms to move closer together, and apply uniform and stable pressure to the touch switch 22 on the connecting part 21 through the pressing parts, thereby performing the target operation.

[0085] The drive unit can be a miniature electric push rod, an electromagnetic drive assembly, etc. Its driving force can be adjusted according to the triggering requirements of the touch switch 22. This ensures that the touch switch 22 is effectively triggered to separate the connecting part 21 from the surgical instrument 1, while also preventing excessive pressure from damaging the touch switch 22 and the connecting part 21, thus ensuring a smooth and reliable unloading process.

[0086] According to the embodiments of this application, the automation level and operational accuracy of the unloading mechanism 33 are further improved through the coordinated cooperation of the second clamping part, the sensing device and the driving part. The positioning and detection of the connecting part 21 and the triggering of the touch switch 22 can be completed without manual intervention, so as to realize the automatic unloading of the surgical instrument 1, improve the unloading efficiency and stability, and adapt to the sterile and high-precision requirements of the surgical environment.

[0087] Figure 5 A method for switching surgical instruments 1 for a humanoid robot 2 according to an embodiment of this application is shown, which is applicable to the above-described system for switching surgical instruments 1 for a humanoid robot 2.

[0088] like Figure 5 As shown, the method includes:

[0089] In operation S510, in response to receiving the target instruction, the connecting part 21 at the end of the robotic arm is controlled to move to the target space of the unloading mechanism 33 of the instrument storage 3.

[0090] In operation S520, the unloading mechanism is controlled to perform a target operation on the touch switch 22 of the connecting part 21 so that the connecting part 21 is separated from the first surgical instrument, and the first storage mechanism 34 that does not store the surgical instrument is controlled to perform a storage operation on the first surgical instrument.

[0091] In operation S530, the second body 32 is controlled to rotate relative to the first body 31, so that the position of the second storage mechanism 34, which has housed the second surgical instrument, matches the position of the unloading mechanism.

[0092] In operation S540, the second storage mechanism 34 is controlled to release the second surgical instrument so that the second surgical instrument is connected to the connecting part 21.

[0093] The target instruction can be a command to instruct the switching of surgical instruments. Robot 2 can drive its robotic arm to precisely push the currently carried instrument into the target space of the instrument storage 3 according to the target instruction. During this insertion process, the robot 2 arm remains rigid. When the sensor of the unloading mechanism of the instrument storage 3 detects that the connecting part 21 of the robotic arm is in place, it triggers the first clamping part of the storage mechanism 34 of the instrument storage 3 to extend and securely lift the surgical instrument 1. Simultaneously, driven by the drive unit, the two clamping arms of the unloading mechanism 33 press the touch switch 22 on the side of the robotic arm. Under pressure, the touch switch 22 causes the locking mechanism inside the connecting part 21 to contract, thus disengaging the first surgical instrument from the connecting part 21.

[0094] After reaching the designated alignment position and maintaining it for a predetermined time, the robotic arm of robot 2 performs a preset linear retraction action, thereby completely separating the first surgical instrument from the connecting part 21 and safely and stably leaving the first surgical instrument in the storage mechanism 34.

[0095] After the separation of the first surgical instrument and the connecting part 21 is completed, when the sensor of the unloading mechanism 33 detects again that the connecting part 21 is in the target space, the instrument magazine 3 drives the internal turntable to rotate in increments, precisely switching the storage mechanism 34, which contains the second surgical instrument, to directly above the connecting part 21. The first clamping part of the storage mechanism 34 automatically retracts, and the second surgical instrument, without external clamping, falls vertically downwards onto the connecting part 21 of the robot 2 under its own gravity, causing the protrusion of the connector 12 to embed into the groove 24 of the connecting part 21 located in the target space under the action of gravity. At this point, the replacement process is complete, and remote control of the robot 2 can be resumed to continue the surgery.

[0096] According to the embodiments of this application, by moving the connecting part 21 to the target space, the unloading mechanism 33 and storage mechanism 34 of the instrument library 3 are used to quickly change the surgical instruments 1, significantly improving the intelligence of the robot 2 as a surgical operation platform. Through the autonomous quick-change mechanism, the functional limitations of the humanoid robot 2 in complex surgical scenarios are broken, realizing a leap from a single-task actuator to a general-purpose medical platform with multi-task switching capabilities, providing a new technical path for the autonomy and versatility of the medical robot 2.

[0097] According to an embodiment of this application, in response to receiving a target instruction, controlling the connecting part 21 at the end of the robotic arm to move to the target space of the unloading mechanism 33 of the instrument storage 3 may include: in response to receiving the target instruction, using the camera device of the connecting part 21 to acquire an image of the reference mark 35 of the second body 32; determining the pose information of the connecting part 21 relative to the instrument storage 3 based on a predetermined spatial mapping relationship between the image, the reference mark 35 and the connecting part 21; and controlling the connecting part 21 to move to the target space according to the pose information.

[0098] For example, the operator can control the humanoid robot 2 arm to move from the surgical area to the vicinity of the instrument storage 3 in real time via a head-mounted display and a remote control handle. When the robot arm's camera captures the reference marker 35 on the storage location of the instrument storage 3, the operator issues an automatic alignment command by pressing a specific button on the handle. Upon receiving the command, based on the marker image acquired by the wrist camera, the operator can calculate the pose information of the intelligent instrument storage 3 relative to the connecting part 21 of the robot 2 arm in real time according to a predetermined spatial mapping relationship. Based on the pose information, the operator adjusts the movement direction and pose of the robot arm in real time, so that the connecting part 21 enters the target space with the set pose, thereby achieving accurate docking of the connecting part 21 with the unloading mechanism 33 and the storage mechanism 34.

[0099] This application represents a leap from specialized equipment to a general-purpose surgical platform for surgical robots. Traditional surgical robots are typically closed systems designed for specific surgical procedures. This invention, however, endows the humanoid robot with the ability to rapidly switch between heterogeneous tools, enabling it to act as a surgeon, assistant, or suturer in the same operation, much like a human surgeon. This high degree of versatility overcomes the limitations of traditional single-function medical robots, significantly improving the utilization rate of expensive robot hardware. In long-duration or interdisciplinary surgical tasks, the humanoid robot is no longer limited to the function of end-effectors. Its autonomous quick-change system allows it to handle unexpected situations, such as rapidly switching from ordinary cutting to electrocoagulation hemostasis without manual disassembly or reassembly. This not only ensures the continuity of surgical logic but also signifies the evolution of the humanoid robot from an auxiliary tool in medical settings into an independent operating unit with closed-loop operation capabilities, providing crucial technical support for future unmanned operating rooms.

[0100] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments and / or claims of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0101] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this application is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this application, and all such substitutions and modifications should fall within the scope of this application.

Claims

1. A surgical instrument switching system for a humanoid robot, characterized in that, The system includes: Multiple surgical instruments; Robots, including: A robotic arm, the robotic arm including a connecting part adapted for detachable connection to a surgical instrument, the connecting part being provided with a touch switch adapted to detach the connecting part from the surgical instrument in response to a target operation on the touch switch; Instrument library, suitable for storing multiple surgical instruments, the instrument library includes: A first body and a second body, wherein the second body is fitted onto the first body; An unloading mechanism is disposed at the lower part of the second body of the first body. The unloading mechanism has a target space for accommodating the connecting part. The unloading mechanism is adapted to perform the target operation on the touch switch when the connecting part is in the target space. A storage mechanism is provided on the second body, the storage mechanism being adapted to store surgical instruments that have been separated from the connecting part, and to install the stored surgical instruments to the connecting part.

2. The surgical instrument switching system according to claim 1, characterized in that, The storage mechanism includes multiple storage mechanisms, which are spaced apart on the second body; The second body is configured to rotate around the first body so that the rotation of the second body can be used to adjust the positions of different storage mechanisms to match the unloading mechanism.

3. The surgical instrument switching system according to claim 1, characterized in that, The surgical instrument includes an instrument body and a connector connected to the instrument body; The connector is adapted to cooperate with the connecting part to lock the connecting part and the surgical instrument, and to disengage the surgical instrument from the connecting part after the target operation is performed on the touch switch.

4. The surgical instrument switching system according to claim 3, characterized in that, The connector is provided with a protrusion, and the connector is provided with a groove that mates with the protrusion. The protrusion is adapted to be embedded into the groove under the weight of the surgical instrument itself.

5. The surgical instrument switching system according to claim 4, characterized in that, The storage mechanism includes: A retractable first clamping portion, adapted to extend in a direction away from the first body and clamp a surgical instrument that has been separated from the connecting portion when the connecting portion is in the target space; and The clamped surgical instrument is retracted and released in a direction close to the first body, so that the protrusion of the connector is embedded into the groove of the connector located in the target space under the action of gravity.

6. The surgical instrument switching system according to any one of claims 1 to 4, characterized in that, The unloading mechanism includes: The second clamping part has two clamping arms, and the target space is formed between the two clamping arms; A sensing device is disposed on at least one of the clamping arms, the sensing device being adapted to generate a target signal when the connection portion is detected to be in the target space; The driving unit is adapted to drive two clamping arms to apply pressure to the touch switch in response to the target signal, so as to perform the target operation.

7. The surgical instrument switching system according to claim 1, characterized in that, A reference mark is provided on the surface of the first body on the same side as the unloading mechanism; The robotic arm also includes a camera device adapted to capture images of the reference markers as the robot approaches the instrument depot; A controller adapted to determine the pose information of the robotic arm relative to the instrument library based on a predetermined spatial mapping relationship between the image, the reference marker, and the robotic arm.

8. The surgical instrument switching system according to claim 7, characterized in that, The controller is also adapted to control the robotic arm to move the connecting part to the target space based on the pose information.

9. A method for switching surgical instruments for a humanoid robot, characterized in that, The method, applicable to the surgical instrument switching system of any one of claims 1 to 8, comprises: In response to receiving a target command, the connecting part at the end of the robotic arm is controlled to move to the target space of the unloading mechanism of the instrument storage; The unloading mechanism is controlled to perform a target operation on the touch switch of the connecting part so as to separate the connecting part from the first surgical instrument, and the first storage mechanism that does not store the surgical instrument is controlled to store the first surgical instrument. Control the rotation of the second body relative to the first body, and match the position of the second storage mechanism that houses the second surgical instrument with the position of the unloading mechanism; and Control the second storage mechanism to release the second surgical instrument so that the second surgical instrument is connected to the connecting part.

10. The surgical instrument switching method according to claim 9, characterized in that, In response to receiving a target command, the connecting part at the end of the robotic arm is controlled to move to the target space of the unloading mechanism of the instrument magazine, including: In response to receiving a target instruction, the camera device in the connecting part acquires an image of the reference mark of the second body; Based on the predetermined spatial mapping relationship between the image, the reference identifier, and the connecting part, the pose information of the connecting part relative to the instrument library is determined; Based on the pose information, the connecting part is controlled to move to the target space.

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