Tool change system for robotic minimally invasive medical procedures

Abstract

This invention relates to a tool changing system (50) for a robotic arm (13) of a medical robot. The tool changing system includes a fixed part (60) and a detachable part (70), the fixed part (60) being intended to be permanently positioned at the distal end of the robotic arm, and the detachable part (70) including a tool (80) suitable for assisting physicians in minimally invasive medical procedures. The detachable part is replaceable to achieve tool changing. The tool changing system is configured such that when the fixed part (60) and the detachable part (70) are assembled together, a locking member is pushed into a groove of a locking pin by a drive ring, and the rotational movement of the drive ring of the detachable part relative to the locking pin of the fixed part causes the system to switch from an unlocked state to a locked state.

Description

Technical Field

[0001] This application relates to robotic devices for assisting physicians in medical procedures, and more specifically to a tool changing system for a robotic arm of a medical robot. Background Technology

[0002] To perform minimally invasive medical procedures on a patient's target anatomical structures (e.g., lungs, kidneys, liver, brain, tibia, knee, vertebrae, etc.) to reach the target anatomical area (e.g., organ biopsy or tumor resection, vertebroplasty, bone cement injection, or stimulation of the anatomical area), the operator can use a medical robot equipped with a robotic arm with tools (medical tool guides such as needles, electrodes, probes, cannulas, etc.) at the end of the robotic arm.

[0003] Advantageously, the tool is connected to the robotic arm via a tool changer, enabling tool changing during a single surgery or between two surgeries. Patent applications EP3939532A1, US20140066944A1, US20220409303A1, and CN114176737A1 disclose various examples of tool changers for robotic arms used in medical robots.

[0004] The tool changer enables quick and easy tool replacement, which is crucial. Additionally, the tool changer must ensure reliable mounting of the tool onto the robotic arm. This means the tool must be mounted in exactly the same way each time, without accidental removal. During medical procedures, the tool changer must also limit errors introduced when calculating tool positioning.

[0005] Sterile strips should generally be placed to isolate the robotic arm from the patient (the robotic arm is typically not sterile). Tool changers must not compromise the sterility of equipment used during the medical procedure. Furthermore, the placement of sterile strips should not obstruct the installation of tools onto the robotic arm in any way.

[0006] Existing tool changers cannot optimally guarantee a quick, easy, and reliable tool change process while ensuring a sufficient level of sterility. Summary of the Invention

[0007] The purpose of this invention is to overcome all or part of the defects in the prior art, especially the defects listed above.

[0008] Therefore, according to a first aspect of the present invention, a tool replacement system for a robotic arm of a medical robot is provided. The tool replacement system includes a fixed portion and a detachable portion, the fixed portion being intended to be permanently positioned at a distal end of the robotic arm, and the detachable portion including tools suitable for assisting physician operations in minimally invasive medical procedures. The detachable portion is replaceable to achieve tool replacement. The fixed portion includes: - Stand, - A generally cylindrical locking pin, the surface of which is provided with at least one groove. - At least one locating pin.

[0009] The detachable part includes: - A connector comprising a cylindrical wall adapted to receive the locking pin, the cylindrical wall including at least one radial opening, the connector further comprising at least one hole intended to mate with the at least one locating pin; - A drive ring, the inner surface of which includes at least one inclined surface; - At least one locking element, which is accommodated in the radial opening and is located between the inner surface of the drive ring and the cylindrical wall of the connector.

[0010] The tool changing system is configured such that when the fixed part and the detachable part are assembled together, the at least one locating pin is received in the at least one opening, and the locking member is pushed into the at least one groove of the locking pin along the radial axis by the at least one inclined surface of the drive ring, and the rotational movement of the drive ring relative to the locking pin causes a switch from the unlocked position to the locked position.

[0011] The tool changing system according to the present invention enables simple and quick installation of tools on a robotic arm. The system is designed so that the user can assemble or remove tools from the robotic arm simply by rotating a drive ring.

[0012] Furthermore, the installation is particularly reliable. Thanks to the irreversible geometry of the locking mechanism, the tool will not accidentally fall off the robotic arm: the detachable part can only be removed when the drive ring rotates around the locking pin.

[0013] In specific embodiments, the present invention may also include one or more of the following technical features, which may be used individually or in any technically possible combination.

[0014] In a specific implementation, the fixing part and the detachable part each include at least one visual identifier. When the fixing part and the detachable part are assembled together and the visual identifiers are opposite each other, the visual identifiers indicate a locked position or an unlocked position.

[0015] In a specific implementation, the tool and the drive ring each include at least one optical mark.

[0016] In a specific implementation, the detachable part includes at least one NFC tag, and the fixing part includes at least one NFC reader. The NFC reader is configured to receive information transmitted by at least one NFC tag of the detachable part when the fixing part and the detachable part are assembled together and the drive ring is in the locked position.

[0017] In a specific implementation, the tool includes a guiding device for a medical device, such as a needle, probe, electrode, catheter, screw, drill bit, or cannula.

[0018] In a specific embodiment, the cylindrical wall of the connector of the detachable part includes at least one additional radial opening to facilitate the sterilization of the detachable part.

[0019] In a specific embodiment, the tool changing system further includes a sterile pad designed to at least cover the robotic arm of the medical robot. The sterile pad includes a circular opening, the periphery of which is formed by a ring designed to surround a shoulder of a support for the fixation portion. The shoulder is configured to be covered by a drive ring when the fixation portion and the detachable portion are assembled together, the ring being held between the shoulder and the drive ring.

[0020] Advantageously, placing a sterile pad in the tool changing system does not add any additional interfaces that could cause problems with system locking. This is because the sterile pad is placed radially relative to the main axis of the tool changing system. This means that no additional interfaces are added to the contact surface between the fixed part and the removable part. This final point ensures better repeatability when installing tools on the robotic arm.

[0021] In a specific implementation, the sterile sheet includes an NFC tag, and the fixing part includes an NFC reader, the NFC reader being configured to receive information transmitted by the NFC tag of the sterile sheet when the ring of the sterile sheet surrounds the shoulder of the support of the fixing part.

[0022] According to a second aspect of the present invention, a medical robot is provided, the medical robot comprising a robotic arm and a tool changing system as described in any of the foregoing embodiments.

[0023] In a specific implementation, the medical robot includes a robotic arm control unit, and the fixing part of the tool changing system includes a display screen, which is connected to the control unit and forms a flexible strip around the bracket of the fixing part.

[0024] In a specific implementation, the control unit is configured to display prompts related to the control of the robotic arm on the display screen.

[0025] In a specific implementation, the tool and drive ring of the detachable part of the tool changing system each include at least one optical mark, and the control unit is configured to: - Receive information from the optical navigation system regarding the position of the tool and the optical markers on the drive ring. - Based on the position information of the optical marker, verify whether the drive ring is in the locked position.

[0026] In a specific implementation, the control unit is configured to check whether the sterile pad is correctly positioned at the fixing part of the tool changing system based on whether information transmitted by the NFC tag of the sterile pad is received.

[0027] In a specific implementation, the control unit is configured to check whether the tool is suitable for a minimally invasive medical procedure planned and stored by the control unit based on information transmitted by the at least one NFC tag of the detachable part.

[0028] In a specific implementation, pre-determined calibration data for different detachable parts is stored in or accessible through the control unit. Information transmitted by the NFC tag of the detachable part includes an identifier for that detachable part. The control unit is configured to select calibration data from the identifier for controlling the robotic arm.

[0029] After all components are assembled, each detachable part is measured and calibrated. Thanks to this calibration, the system can avoid positioning errors associated with the assembly of detachable parts during manufacturing. Attached Figure Description

[0030] refer to Figure 1-13 Please read the following description of completely non-limiting examples to better understand the invention, wherein: [ Figure 1 A schematic diagram of an exemplary embodiment of a medical robot; [ Figure 2 ] Figure 1 An exemplary embodiment of the tool changing system for the robotic arm of a medical robot is shown. [ Figure 3 ] Figure 2 An exemplary embodiment of the tool replacement system's fixing part shown; [ Figure 4 ] Figure 2 An exemplary embodiment of the detachable part of the tool replacement system shown; [ Figure 5 ] Figure 4 Another view of an exemplary embodiment of the detachable part shown highlights the component around which the drive ring surrounds; [ Figure 6 A cross-sectional view of the detachable part assembled on the fixed part in the unlocked position; [ Figure 7 A cross-sectional view of the detachable part assembled on the fixed part in the locked position; [ Figure 8 A schematic diagram of the drive ring in the unlocked position; [ Figure 9 A schematic diagram of the drive ring in the locked position; [ Figure 10 The illustration shows a schematic diagram of placing a sterile pad on the fixed part of a tool changing system to cover the robotic arm; [ Figure 11 A schematic diagram of a sterile pad on the fixing part of the tool changing system; [ Figure 12 A schematic diagram of the connector for the detachable part, which is designed to receive the locking pin of the fixed part; [ Figure 13 ] Figure 12 Another view of the connector shown.

[0031] In these accompanying drawings, the same reference numerals across different drawings denote the same or similar elements. For clarity, unless otherwise stated, the elements depicted are not necessarily drawn to the same scale. Detailed Implementation

[0032] Figure 1 An exemplary embodiment of a medical robot 10 is illustrated schematically. This medical robot 10 is used to assist physicians in manipulating target anatomical structures of a patient 20 on an operating table 21 during minimally invasive medical procedures.

[0033] This type of interventional treatment typically requires a physician to insert one or more medical devices 15 into the patient's body 20 through an entry point on the patient's skin to a certain depth in order to reach the target point inside or near the treatment area of ​​the target anatomical structure.

[0034] This procedure can be used in particular for ablation or biopsy of tumors in organs or bones to treat bone diseases (e.g., vertebroplasty or bone cementation), and even to stimulate specific anatomical areas. The target anatomical structure may correspond to an organ or bone, such as the liver, lungs, kidneys, brain, vertebrae, tibia, femur, hip joint, knee joint, pelvis, etc. The medical device 15 can be a needle, electrode, probe, drill bit, cannula, screw, etc.

[0035] exist Figure 1 In the illustrated embodiment, the medical robot 10 includes a base 11. The base 11 of the medical robot 10 is equipped with drive wheels, which enables the medical robot 10 to move in different directions through translational and / or rotational movements.

[0036] The medical robot 10 also includes a robotic arm 13, one end of which is connected to a base 11. The other end of the robotic arm is connected to a tool changing system 50. As described below, the tool changing system 50 includes a detachable part comprising a tool suitable for assisting physicians in minimally invasive medical procedures. For example, this tool is designed to guide medical devices 15 (e.g., needles, probes, electrodes, cannulas, etc.). Therefore, the medical robot 10 acts as a third hand for the physician.

[0037] like Figure 1 As shown, the medical robot 10 includes a control unit 12 configured to control the movement of a robotic arm 13 (and thus the movement of the tools carried by the robotic arm 13). The control unit 12 includes at least one processor 122 and at least one memory 121 (magnetic hard disk, electronic memory, optical disk, etc.) that stores a computer program product in the form of a set of program code instructions that will be executed to achieve control of the robotic arm 13.

[0038] exist Figure 1 In the example shown, the robotic arm 13 includes six rotational joints (131-136) with six degrees of freedom, thereby enabling it to position and / or move the medical device 15 in any pose in three-dimensional space (in this application, the term "pose" should be understood as "position and orientation").

[0039] like Figure 1 As shown, the optical navigation system 30 can be used to provide the control unit 12 of the medical robot 10 with information related to the current pose of the tool 80 and the insertion pose that the tool 80 must reach. For example, the current pose and the insertion pose are initially defined in the reference frame of the navigation system 30, and then converted by the control unit 12 into poses in the reference frame of the medical robot 10. The control unit 12 is then configured to automatically move the robotic arm 13 to the insertion pose. The insertion pose corresponds to a pose of the tool 80 in which the tool 80 can guide the medical device 15 along a planned trajectory and precisely reach the required insertion depth to the target point of the target anatomical structure.

[0040] The navigation system 30 interacts with the control unit 12 of the medical robot 10 via a communication device (wired / wireless). In this example, the navigation system 30 is an optical navigation system. Figure 4As shown, tool 80 includes studs 82 for receiving optical markers. All optical markers on tool 80 correspond to robot reference point 14. A plane can be defined using at least three optical markers, thereby determining a direct orthogonal three-dimensional reference frame. This makes it possible to determine the pose based on the reference frame formed by the optical markers representing tool 80.

[0041] like Figure 1 As shown, patient reference point 22 is placed on patient 20, close to the target anatomical structure. In the considered example, patient reference point 22 also includes at least three optical markers, thereby enabling the pose of patient reference point 22 to be determined in three-dimensional space within the reference frame of navigation system 30.

[0042] The insertion pose that tool 80 must achieve can be specifically defined based on the pose of patient reference point 22. For this purpose, patient reference point 22 also includes radiopaque markers that are visible on medical images acquired by medical imaging equipment (e.g., computed tomography, magnetic resonance imaging, ultrasound, computed tomography, positron emission tomography, etc.).

[0043] Therefore, the medical procedure can be planned based on the preoperative medical image 40 acquired for the patient equipped with the patient reference point 22. The preoperative medical image 40 is stored in the memory 121 of the control unit 12. Then, the control unit 12 can determine the insertion pose that the tool 80 must take based on the preoperative medical image 40 in order to guide the medical device 15 to perform the medical procedure.

[0044] The planning work includes determining, on the preoperative image 40, the trajectory 41 that a medical device 15 (e.g., a needle) should follow, between an entry point 43 on the patient 20's skin and a target point 44 within or near the treatment area (e.g., a tumor) of the target anatomical structure 45 (e.g., the liver) of the patient 20. A patient reference point 22 (more precisely, a radiopaque element of the patient reference point 22) is visible in the preoperative image 40. Therefore, the pose of the patient reference point 22 can be determined in the medical image. The pose of the tool 80 for insertion along the trajectory 41 can then be determined relative to the pose of the patient reference point 22.

[0045] Using the navigation system 30, the medical robot 10 can determine the pose of the tool 80 (or more precisely, the pose of the robot reference point 14) and the pose of the patient reference point 22. Based on the preoperative image 40, the medical robot 10 knows the insertion pose that the tool 80 must achieve relative to the patient reference point 22. The control unit 12 can then be configured to automatically move the robotic arm 13 to achieve the insertion pose.

[0046] The ability to easily, quickly, and reliably change instruments during medical procedures (e.g., when several different medical instruments must be inserted into a patient during the same procedure) or between two medical procedures is crucial. Ensuring adequate sterility of the equipment used during medical procedures is equally important.

[0047] Figure 2 The above is shown Figure 1 An exemplary embodiment of the tool changing system 50 used by the robotic arm 13 of the medical robot 10 described herein. The tool changing system 50 includes a fixed portion 60 and a detachable portion 70. The fixed portion 60 is used for persistent (i.e., permanent) positioning at the distal end of the robotic arm 13, while the detachable portion 70 includes a tool 80 suitable for a predetermined medical procedure. When changing the tool, the detachable portion 70 can be replaced.

[0048] Figure 3 An exemplary embodiment of the fixation portion 60 of the tool changing system 50 is shown. The fixation portion 60 includes a bracket 61, which is preferably made of an electrically insulating material (e.g., plastic) to provide electrical insulation for the tool 80 (or, if the tool is a guide, for the medical device 15 carried by the tool 80).

[0049] The fixing part 60 also includes a generally cylindrical locking pin 62, the surface of which includes at least one groove 63 (e.g., a groove, channel, throat, or hollow cavity). One or more grooves are arranged circumferentially on the cylindrical surface of the locking pin 62. Figure 3 In the example shown, groove 63 corresponds to a groove that occupies the entire circumference of locking pin 62. However, in another embodiment, it is also possible to provide multiple individual grooves along the circumference of locking pin 62.

[0050] The fixing part 60 also includes at least one locating pin 64. As described below, this locating pin 64 serves as a reference for correctly assembling the detachable part 70 onto the fixing part 60. Figure 3 In the example shown, the fixing part 60 is provided with two positioning pins 64 on the bracket 61.

[0051] The bracket 61 serves as a support for the locking pin 62 and the positioning pin 64.

[0052] Figure 4-5 An exemplary embodiment of the removable portion 70 of the tool changing system 50 is shown.

[0053] In the examples considered, such as Figure 4As shown, the detachable part 70 includes a tool 80, which includes a guide device 81 consisting of two relatively movable parts. The guide device 81 is designed to secure and guide a medical device 15 (e.g., a needle, probe, electrode, catheter, screw, drill bit, or cannula) at a clamp formed by the two movable parts. The two movable parts of the guide device 81 can be driven by a system such as gears, cams, anti-threaded screws, and / or linear actuators to lock or release the medical device 15. For example, the tool 80 is capable of guiding medical devices of different diameters. For example, the guide device is capable of guiding medical devices with diameters from 11 to 21 (11-21G). Specifically, the guide device 81 may follow one embodiment described in patent application FR3094627A1.

[0054] like Figure 5 As shown, the detachable part 70 includes a connector 74, which includes a cylindrical wall 75 adapted to receive a locking pin 62 (in other words, when the detachable part 70 is assembled to the fixed part 60, the locking pin 62 is designed to embed into a space formed inside the cylindrical wall 75 of the connector 74). The connector 74 has at least one hole 77 designed to mate with the locating pin 64 on the fixed part 60. Figure 5 In the example shown, the connector 74 has two holes 77 designed to receive two locating pins 64 of the fixing part 60. The cylindrical wall 75 also has one or more radial openings 76 arranged circumferentially along the cylindrical wall 75 of the connector 74.

[0055] like Figure 5 As shown, the detachable part 70 also includes a drive ring 71 and at least one locking member 78, which is accommodated in a radial opening 76 between the inner surface of the drive ring 71 and the cylindrical wall 75 of the connector 74. In such a way... Figure 5 In the example shown, there are three radial openings 76 and three locking elements 78 (only two are visible in the figure). Each locking element 78 is spherical. Each radial opening 76 is circular with a diameter smaller than the diameter of the sphere it accommodates, to prevent the sphere from passing through the opening.

[0056] The tool changing system 50 is configured such that when the fixed part 60 and the removable part 70 are assembled together and the locating pin 64 is in its respective hole 77, the rotational movement of the drive ring 71 relative to the locking pin 62 causes each locking element 78 to be pushed radially into the groove 63 of the locking pin 62 by the inclined surface on the inner surface of the drive ring 71 (the inner surface 72 of the drive ring 71 and the inclined surface 73 of the inner surface 72 are in...). Figure 8 and Figure 9 As can be seen in the text (which will be described below), this causes the drive ring to move from the unlocked position to the locked position.

[0057] Therefore, the shape of the recess 63 is adapted to accommodate the locking member 78. In other words, when the fixed part 60 and the removable part 70 are assembled in the locked position, the shape of the recess 63 allows the locking member 78 to be inserted into the recess 63. Each locking member 78 is inserted into the recess 63, thereby keeping the tool changing system 50 in the locked position.

[0058] As described above, in one variation, multiple individual grooves 63 may be provided circumferentially on the cylindrical surface of the locking pin 62 (instead of a single groove along the entire circumference of the locking pin 62), such that each groove 63 is adapted to accommodate a locking element 78.

[0059] In the example shown in the attached diagram, rotating the drive ring 71 a small segment (e.g., one-sixth of a turn) in one direction changes the position from unlocked to locked. Rotating the drive ring 71 a small segment in the opposite direction changes the position from locked to unlocked.

[0060] Figure 6-9 The assembly of the detachable part 70 and the fixed part 60 is shown, as well as the process of switching from the unlocked position to the locked position.

[0061] Figure 6 The assembly of the detachable part 70 in the unlocked position onto the fixed part 60 is shown. Specifically, Figure 6 This shows that the locking element 78 is not engaged in the groove 63 of the locking pin 62. In this position, the locking element 78 is located at the bottom of the bevel 73 etched on the inner surface 72 of the drive ring 71.

[0062] Figure 8 The figure shows the drive ring 71 and locking member 78 in the unlocked position. The figure shows that, in the unlocked position, each locking member 78 is located at the bottom of the bevel 73 etched on the inner surface 72 of the drive ring 71.

[0063] Figure 7 The assembly of the detachable part 70 in the locked position onto the fixed part 60 is shown. Specifically, Figure 7 As shown, the locking member 78 is fitted into the groove 63 of the locking pin 62. In this position, the locking member 78 is located on top of the bevel 73 etched into the inner surface 72 of the drive ring 71.

[0064] Figure 9 The diagram shows the drive ring 71 and locking member 78 in the locked position. The figure shows that, in the locked position, each locking member 78 is located on top of a bevel 73 etched on the inner surface 72 of the drive ring 71.

[0065] When from the unlock position ( Figure 6 and Figure 8 Move to the locked position. Figure 7 and Figure 9When the drive ring 71 rotates relative to the locking pin 62, the locking member 78 is pushed along the radial axis through the radial opening 76 by the inclined surface 73 of the inner surface 72 of the drive ring 71, and is then pushed into the groove 63 of the locking pin 62. The locking member 78 then engages in the groove 63, holding the tool changing system 50 in the locked position. Only a reverse rotation of the drive ring 71 can change the position from the unlocked to the locked position. During the reverse rotation, the locking member 78 moves from the groove 63 to the bottom of the inclined surface 73, thereby separating the fixed part 60 and the removable part 70.

[0066] Preferably, the inclination angle of the ramp 73 is very small (less than a few degrees, for example, less than 5°) to ensure the irreversibility of the system. An irreversible mechanism is a system that can only be driven by a single component called a drive member. In the tool changing system 50 of the present invention, the drive member is the drive ring 71. As the drive ring 71 rotates, each ball (locking member 78) moves in contact with the ramp 73. Under no circumstances can the mechanism be opened except by applying force to the balls through the rotational movement of the drive ring 71. This phenomenon ensures that the tool changing system 50 cannot be opened during surgery if the drive ring 71 is not activated.

[0067] In the specific implementation plan, such as Figure 3 As shown, the tool changing system 50's mounting section 60 includes a display screen 66 connected to the control unit 12. The display screen 66 is, for example, a flexible strip that surrounds the support 61 of the mounting section 60. The control unit 12 can then be configured to display on the display screen 66 instructions related to the control of the robotic arm 13 (e.g., indicating whether the robotic arm 13 is in motion, whether the tool 80 has reached the insertion position, whether the tool 80 is approaching or contacting an obstacle, and / or whether emergency action must be taken by the physician). Therefore, the display screen 66 allows the physician to receive feedback on the ongoing surgery without taking their eyes off the surgical area.

[0068] To detect whether tool 80 is approaching an obstacle, tool changing system 50 may include a distance sensor, such as an ultrasonic sensor or a retroreflective photoelectric sensor. To detect whether tool 80 is in contact with an obstacle, tool changing system 50 may include a force sensor 68 (see [link to documentation]). Figure 3 When tool 80 encounters an obstacle, force sensor 68 detects a discontinuity in the sensed force and torque.

[0069] like Figure 2As shown, the fixed part 60 and the detachable part 70 may each include at least one visual mark 65a, 65b, which indicate the locked or unlocked position when the fixed part 60 and the detachable part 70 are assembled together and the visual marks 65a, 65b are opposite each other. For example, the mounting ring 71 of the detachable part 70 has an arrow-shaped visual mark 65b, while the fixed part 60 has a first visual mark 65a in the shape of an open padlock and a second visual mark in the shape of a closed padlock. When the fixed part 60 and the detachable part 70 are assembled together and the locating pin 64 is fitted into its respective hole 77, if the arrow points to the open padlock, it indicates that the tool changing system 50 is in the unlocked position (at this time, the detachable part 70 can be freely removed from the fixed part 60); if the arrow points to the closed padlock, it indicates that the tool changing system 50 is in the locked position (at this time, the detachable part 70 cannot be removed from the fixed part 60 without rotating the drive ring 71).

[0070] It may be advantageous to automatically detect whether the tool changing system 50 is in the locked position. For this purpose, the drive ring 71 may include an optical reference formed by one or more optical marks similar to those on the tool 80. The navigation system 30 can then enable the control unit 12 of the medical robot 10 to determine the position of the drive ring 71 relative to the tool 80 and, based on this, infer whether the tool changing system 50 is in the locked position. Advantageously, the display screen 66 may show whether the tool changing system 50 is in the locked position.

[0071] In a specific implementation, the detachable part 70 includes an NFC tag, while the fixed part 60 includes an NFC reader configured to receive information transmitted by the NFC tag of the detachable part 70 when the fixed part 60 and the detachable part 70 are assembled together and the drive ring 71 is in the locked position. The term "NFC" is an abbreviation for "Near Field Communication." It is a short-range (centimeter-level) high-frequency wireless communication technology.

[0072] The control unit 12 can then be configured to check whether the tool replacement system 50 is in the locked position based on information transmitted by the NFC tag of the removable part 70. For the NFC reader to receive information from the NFC tag, the reader and the tag must be facing each other (they must be close enough). The reader and tag can be arranged such that when the NFC tag of the removable part 70 is facing the NFC reader of the fixed part 60, it indicates that the tool replacement system 50 is in the locked position. Therefore, when the NFC reader receives information from the NFC tag, it means that the removable part 70 has been correctly assembled with the fixed part 60, which is in the locked position. This again provides another method for automatically detecting whether the tool replacement system 50 is in the locked position. Similarly, the display screen 66 can show whether 50 is in the locked position.

[0073] Alternatively, two NFC readers can be used on the fixed part 60, and one NFC tag can be used on the removable part 70. The readers and NFC tag can be configured such that when the NFC tag of the removable part 70 faces the first NFC reader of the fixed part 60, it means that the tool replacement system 50 is in the unlocked position, and when the NFC tag of the removable part 70 faces the second NFC reader of the fixed part 60, it means that the tool replacement system 50 is in the locked position.

[0074] Alternatively, two NFC tags can be used on the removable part 70, and one NFC reader can be used on the fixed part 60. The tags and NFC reader can be configured such that when the first NFC tag on the removable part 70 faces the NFC reader on the fixed part 60, the tool replacement system 50 is in the unlocked position; and when the second NFC tag on the removable part 70 faces the NFC reader on the fixed part 60, the tool replacement system 50 is in the locked position.

[0075] The control unit 12 can also be configured to check whether the tool 80 is suitable for a minimally invasive medical procedure planned and stored by the control unit 12, based on information transmitted by the NFC tag of the removable part 70. The information transmitted by the NFC tag of the removable part 70 may correspond to an identifier of the tool 80 carried by the removable part 70, and the control unit 12 may store data (for each tool identifier) ​​to associate one or more types of surgery that can be performed with the corresponding tool.

[0076] In a specific implementation, calibration data predetermined for different detachable parts is stored in the control unit 12 (or accessible via the control unit 12, for example, through communication with a data server). If the information transmitted by the NFC tag of the detachable part 70 contains an identifier of the detachable part 70, the control unit 12 can be configured to select calibration data for controlling the robotic arm 13 (from that identifier).

[0077] Advantageously, the individual components of the removable part 70 (specifically, the drive ring 71, connector 74, locking element 78, and tool 80) are assembled by the manufacturer and cannot be disassembled by the user. This allows for the calibration of the entire removable part 70 to ensure higher overall accuracy of the component. Calibration involves metrologically measuring the functional geometry of the component formed by the removable part 70 using a coordinate measuring machine (CMM). For example, calibration includes measuring the following parameters: - The contact surface 85 between the fixed part 60 and the detachable part 70 (see Figure 11 ), - Receiving hole 77 for locating pin 64 - The axis of the medical device 15, which is intended to be guided by the guide device 81. - A mechanical stop device for preventing translation of the medical device 15 during insertion.

[0078] Because each component has unique calibration data, the robotic arm 13 can determine the position of each part during assembly. In other words, the interfaces between different components of the part do not cause positioning errors, because the part (i.e., all parts that make up the part) is measured after assembly. The positioning error of the medical device 15 is limited to: - Accuracy of calibration measurements, - Errors related to the repeatability of assembling the detachable part 70 onto the fixed part 60. - Errors related to the repeatability of medical device positioning in guide device 80.

[0079] Conversely, if the components (detachable part 70) are not calibrated as a whole, the manufacturing precision of each part must be taken into account in the overall positioning error of the medical device 15.

[0080] As previously stated, the tool changing system 50 must maintain the sterility of the equipment used in the medical procedure without compromising its sterility. It is beneficial to cover the robotic arm 13, or even the entire medical robot 10, with sterile pads. The removable part 70 is sterilized before each procedure.

[0081] To facilitate the assembly of the detachable part 70 and the fixed part 60 even in the presence of a sterile pad, it is advantageous to use a sterile pad specifically designed for the tool changing system 50. Therefore, as... Figure 10As shown, the tool changing system 50 may include a sterile sheet 90 with a circular opening, the periphery of which is formed by a ring 91 designed to surround a shoulder 67 of a support 61 of the fixation portion 60. The ring 91 may be made of a rigid material to allow for forced positioning on the shoulder 67. Alternatively, the ring 91 may be made of a resilient material to facilitate positioning on the shoulder 67. Advantageously, the shoulder 67 is configured to be covered by the drive ring 71 when the fixation portion 60 and the removable portion 70 are assembled together. The ring 91 is then secured between the shoulder 67 and the drive ring 71 (the ring 91 is clamped between the shoulder 67 and the drive ring 71). The ring 91 may also include a positioning element (groove, pin, flat surface) designed to engage with the shoulder 67 to prevent rotation of the ring 91 around the shoulder 67 after the sterile sheet has been positioned.

[0082] With this arrangement, the operator does not need to touch the non-sterile parts of the robotic arm 10 when assembling the detachable part 70 or removing the detachable part 70 to install another tool 80.

[0083] Because ring 91 is held between shoulder 67 and drive ring 71, the risk of sterile sheet 90 dislodging from its attachment point is limited during the movement of robotic arm 13. In other words, once assembled, the sterile sheet cannot be moved or expose any non-sterile parts.

[0084] Furthermore, the circular opening on the sterile sheet 90 prevents it from interfering with the assembly of the fixing part 60 and the detachable part 70. For example... Figure 11 As shown, when positioning the sterile pad 90, the contact surface 85 between the fixing part 60 and the removable part 70 does not increase any contact surface (in particular, the sterile pad 90 does not rest on the contact surface 85). This ensures better repeatability when installing the removable part 70 onto the fixing part 60 of the tool changing system 50.

[0085] In a specific implementation, the sterile sheet 90 includes an NFC tag, and the fixing part 60 includes an NFC reader configured to receive information transmitted by the NFC tag of the sterile sheet 90 when the ring 91 of the sterile sheet 90 surrounds the shoulder 67 of the support 61 of the fixing part 60.

[0086] Then, the control unit 12 can be configured to check whether the sterile sheet 90 is correctly placed on the fixing part 60 of the tool changing system 50 based on whether it receives information transmitted by the NFC tag of the sterile sheet 90.

[0087] For the NFC reader to receive information from the NFC tag, the reader and the tag must be facing each other (and the distance between them must be close enough). The reader and tag can be configured so that when the NFC tag of the sterile sheet 90 faces the NFC reader of the fixing part 60, it means that the sterile sheet 90 has been correctly placed on the fixing part 60 of the tool changing system 50.

[0088] The NFC reader used to read information from the NFC tags on sterile sheets may be the same as the NFC reader used to read information from the tags on the removable part 70 of the tool replacement system 50. Alternatively, a different NFC reader may be used.

[0089] Advantageously, the information transmitted by the NFC tag of the sterile sheet 90 may include an identifier of the sterile sheet 90 (e.g., a serial number). In this way, the traceability of equipment (sterile sheet 90 and / or tool 80) used in medical procedures and the inventory management of the hospital where the procedure is performed can be automated.

[0090] like Figure 5 , 12 As shown in Figure 13, to facilitate sterilization of the removable part 70, the cylindrical wall 75 of the connector 74 of the removable part 70 may include one or more additional radial openings 79. These additional radial openings 79 are not associated with the locking member 78. The purpose of the additional radial openings 79 is to allow the sterilized product (liquid) to pass through the space between the cylindrical wall 75 of the connector 74 and the inner surface 72 of the drive ring 71.

[0091] Furthermore, the base of connector 74 is designed with a specific geometry 86 to limit the contact surface between the base and drive ring 71 when connector 74 is connected to drive ring 71. This also facilitates the sterilization of removable part 70. This optimizes the path and flow of sterilized product to drive ring 71. Autoclaves are hot steam bath devices, and ensuring that steam does not remain trapped in the mechanical device is crucial, especially during the drying process. Steam trapping causes liquid to condense within the system and form sacs (liquid that cannot be quickly drained becomes water, making it unsuitable for medical use).

Claims

1. A tool changing system (50) for a robotic arm (13) of a medical robot (10), the tool changing system (50) comprising a fixed part (60) and a detachable part (70), the fixed part (60) being intended to be permanently positioned at the distal end of the robotic arm, the detachable part (70) comprising a tool (80) suitable for assisting physician operation in minimally invasive medical procedures, the detachable part (70) being replaceable to achieve tool changing; characterized in that, The fixing part (60) includes: -Staff (61), - A generally cylindrical locking pin (62), the surface of which is provided with at least one groove (63). -At least one locating pin (64), The detachable part (70) includes: - A connector (74) including a cylindrical wall (75) adapted to receive the locking pin (62), the cylindrical wall (75) including at least one radial opening (76), the connector (74) further including at least one hole (77) intended to mate with the at least one locating pin (64); - Drive ring (71), the inner surface (72) of the drive ring (71) includes at least one inclined surface (73); - At least one locking element (78) is received at the at least one radial opening (76) between the inner surface (72) of the drive ring (71) and the cylindrical wall (75) of the connector (74); The tool changing system (50) is configured such that when the fixed part (60) and the detachable part (70) are assembled together, at least one locating pin (64) is received in at least one hole (77), and the locking member (78) is pushed into at least one groove (63) of the locking pin (62) by at least one inclined surface (73) of the drive ring (71) along the radial axis, and the rotational movement of the drive ring (71) relative to the locking pin (62) causes a switch from the unlocked position to the locked position.

2. The tool changing system (50) according to claim 1, wherein the fixing part (60) and the detachable part (70) each include at least one visual identifier (65a, 65b), wherein when the fixing part (60) and the detachable part (70) are assembled together and the visual identifiers (65a, 65b) are opposite each other, the visual identifiers indicate a locked position or an unlocked position.

3. The tool changing system (50) according to claim 1 or 2, wherein the tool (80) and the drive ring (71) are each provided with at least one optical mark.

4. The tool replacement system (50) according to any one of claims 1-3, wherein the removable part (70) includes at least one NFC tag; the fixing part (60) includes at least one NFC reader, the NFC reader being configured to receive information transmitted by at least one NFC tag of the removable part (70) when the fixing part (60) and the removable part (70) are assembled together and the drive ring (71) is in the locked position.

5. The tool changing system (50) according to any one of claims 1-4, wherein the tool (80) includes a guide (81) for a medical device (15), such as a needle, probe, electrode, catheter, screw, drill bit or cannula.

6. The tool changing system (50) according to any one of claims 1-5, wherein the cylindrical wall (75) of the connector (74) of the removable part (70) includes at least one additional radial opening (79) to facilitate sterilization of the removable part (70).

7. The tool changing system (50) according to any one of claims 1-6, further comprising a sterile sheet (90) for at least covering the robotic arm (13) of the medical robot (10), the sterile sheet (90) comprising a circular opening, the periphery of which is formed by a ring (91) intended to surround a shoulder (67) of a support (61) of the fixation part (60), the shoulder (67) being configured to be covered by the drive ring (71) when the fixation part (60) and the detachable part (70) are assembled together, the ring (91) being held between the shoulder (67) and the drive ring (71).

8. The tool changing system (50) according to claim 7, wherein the sterile pad (90) includes an NFC tag, and the fixing part (60) includes an NFC reader configured to receive information transmitted by the NFC tag of the sterile pad (90) when the ring (91) of the sterile pad surrounds the shoulder (67) of the fixing part (60) support (61).

9. A medical robot (10) comprising a robotic arm (13) and a tool changing system (50) according to any one of claims 1-8.

10. The medical robot (10) according to claim 9, comprising a control unit (12) for controlling the robotic arm (13), wherein the fixing part (60) of the tool changing system (50) includes a display screen (66) connected to the control unit (12) and forming a flexible strip around a bracket (61) of the fixing part (60).

11. The medical robot (10) according to claim 10, wherein the control unit (12) is configured to display prompts related to the control of the robotic arm (13) on the display screen (66).

12. The medical robot (10) according to any one of claims 9-11, wherein the tool (80) and drive ring (71) of the detachable portion (70) of the tool changing system (50) each include at least one optical mark; and wherein the control unit (12) is configured to: - Receive information from the optical navigation system (30) regarding the positions of the optical markers on the tool (80) and the drive ring (71). - Based on the position information of the optical marker, verify whether the drive ring (71) is in the locked position.

13. The medical robot (10) according to claim 9, wherein the tool changing system (50) according to claim 8, wherein the control unit (12) is configured to detect whether the sterile sheet (90) is correctly positioned on the fixing part (60) of the tool changing system (50) based on whether information transmitted by the NFC tag of the sterile sheet (90) is received.

14. The medical robot (10) of claim 9, wherein the tool changing system (50) of claim 4, wherein the control unit (12) is configured to verify whether the tool (80) is suitable for a minimally invasive medical procedure planned and stored by the control unit based on information transmitted by the at least one NFC tag of the detachable part (70).

15. The medical robot (10) according to claim 9, wherein the tool changing system (50) as described in claim 4, pre-determined calibration data for different detachable parts is stored in or accessible through the control unit (12), the information transmitted by the NFC tag of the detachable part (70) includes an identifier of the detachable part (70), and the control unit (12) is configured to select calibration data for controlling the robotic arm (13) from the identifier.

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