Instrument device, surgical robot and control method thereof, medium and computer device

Abstract

The embodiment of the present application relates to an apparatus device, a surgical robot and a control method thereof, a computer readable storage medium and a computer device, wherein the apparatus device comprises: an apparatus seat; an apparatus end capable of being arranged on the apparatus seat, the apparatus end comprising a driving transmission mechanism and a rod part, the driving transmission mechanism being capable of driving the rod part to rotate; and an indication assembly comprising a movable assembly and an indication part; wherein the driving transmission mechanism is further in driving connection with the movable assembly, and thus the movable assembly is capable of driving the indication part to move. Through such a structure, it is possible to seek to realize the miniaturization of the apparatus device to a certain extent by sharing one driving transmission mechanism for the indication part and the end effector of the apparatus end.

Description

Technical Field

[0001] This application belongs to the field of control technology for medical robots, specifically relating to an instrument, a surgical robot including the instrument, a control method for the surgical robot, a computer-readable storage medium, and a computer device. Background Technology

[0002] Surgical robots primarily employ minimally invasive methods to perform surgery and diagnosis on patients. Because minimally invasive methods can significantly reduce damage to the patient's tissues, they have been widely used in permissible categories of surgery and diagnosis.

[0003] Taking surgical procedures on patients as an example, a surgical robot typically includes instruments, a master control unit, and an imaging system. The bedside instruments primarily administer surgical actions directly to the patient, corresponding to the surgeon's movements. The master control unit is usually located at the surgeon's console outside the sterile area of ​​the operating room. The surgeon's console uses visual data related to the current surgery, such as video and images, provided by the imaging system, to perform surgical operations such as gripping, rotation, and pitching at the master control unit's operating point. In addition to providing visual data related to the current surgery to the surgeon at the console, the imaging system also provides visual data related to the current surgery to bedside assistants and other personnel.

[0004] To accommodate the diversity of surgical procedures and the individual differences among patients, surgical devices are typically equipped with multiple instrument ends. By inserting the end effector of one instrument end into the patient's tissues, corresponding actions can be performed on the patient based on the surgical manipulations initiated by the master control device. To ensure surgical reliability, each instrument end has a limited lifespan. The lifespan of an instrument end is typically characterized by the number of uses. Summary of the Invention

[0005] This application aims to solve at least part of the above-mentioned technical problems and / or at least part of the above-mentioned technical problems. Specifically, it aims to achieve miniaturization of the device as much as possible while ensuring the reliability of the life indication.

[0006] In view of this, this application provides an instrument device comprising: an instrument base on which a drive transmission mechanism is disposed; an instrument end disposed on the instrument base, the drive transmission mechanism being capable of driving the instrument end to rotate; and an indicating assembly comprising a movable component and an indicating member; wherein the drive transmission mechanism is further drivenly connected to the movable component, thereby enabling the movable component to drive the indicating member to move. With this configuration, it is possible to achieve a certain degree of miniaturization of the instrument device by sharing a single drive transmission mechanism between the indicating member and the end effector of the instrument end. Attached Figure Description

[0007] The preferred embodiments of this application will now be described with reference to the accompanying drawings and in conjunction with the first movable component being a docking ring, in which:

[0008] Figure 1 An explosion diagram of the instrumentation device of a surgical robot according to an embodiment of this application is shown. Figure 1 The figure shows the instrument end, instrument seat, isolation seat, etc.

[0009] Figure 2 An explosion diagram of the instrumentation device of a surgical robot according to an embodiment of this application is shown. Figure 2 The figure shows the instrument cover, isolation seat, and indicator components at the instrument end;

[0010] Figure 3 An exploded view of the instrument device of a surgical robot according to an embodiment of this application is shown, including a base, indicating component, foolproof component, elastic component, second guide component, etc. at the instrument end.

[0011] Figure 4 This application illustrates the state of the instrumentation of a surgical robot according to one embodiment of the present application. Figure 1 In the figure, the first movable component is in the first posture (the second mating feature B is mated with the limiting surface, which is the first limiting structure).

[0012] Figure 5 This application illustrates the state of the instrumentation of a surgical robot according to one embodiment of the present application. Figure 2 In the figure, the first moving part is in the second posture (the second mating feature B mates with the range-extending surface, which is the second limiting structure);

[0013] Figure 6 This diagram illustrates the structure of a first movable component in a device according to an embodiment of this application.

[0014] Figure 7 This diagram illustrates the structure of the second movable component in a device according to an embodiment of this application.

[0015] Figure 8This invention provides a schematic diagram of the structure of an indicating component in a device according to an embodiment of the present application.

[0016] Figure 9 This application illustrates the structure of a support component in an embodiment of the medical device. Figure 1 ;

[0017] Figure 10 This application illustrates the structure of a support component in an embodiment of the medical device. Figure 2 ;as well as

[0018] Figure 11 This diagram illustrates the structure of a foolproof substrate in a device according to an embodiment of this application. Detailed Implementation

[0019] Preferred embodiments of this application are described below with reference to examples in the accompanying drawings. Those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. For example, although this embodiment uses a first movable component as a docking ring and first / second / third mating features as protrusions disposed at different positions on the docking ring as examples, this is obviously an exemplary description. Those skilled in the art can determine the structural form, number, and driving connection relationship between the first movable component and the driving transmission mechanism according to actual needs. Furthermore, the structural form, number, and mating method / position of the first / second / third mating features with their corresponding components can also be flexibly adjusted according to actual needs.

[0020] It should be noted that in the description of this application, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "setup," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0022] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented even without certain specific details. In some instances, the principles of surgical robots, which are well-known to those skilled in the art, have not been described in detail in order to highlight the main points of this application.

[0023] The following will refer to Figures 1 to 11 The present application is described in accordance with at least a portion of the accompanying drawings. The reference to / primarily to one or more drawings in the embodiments does not mean that reference is limited to only one or a few drawings, but may also refer to both simultaneously. Figures 1 to 11 Any figure other than one or more figures.

[0024] Surgical robots typically consist of a master control unit and an instrument unit. The surgeon or other operator can control the master control unit's operating end. The instrument unit's instrument end has an end effector at the tip of its lever, which can directly act on the patient's body. Based on this setup, the basic working principle of a surgical robot is: by accurately and in real-time "translating" the surgeon's actions at the operating end into movements of the end effector, which then directly acts on the patient's body, surgical procedures such as cutting and suturing can be performed.

[0025] Main reference Figures 1 to 3 , Figures 6 to 10 In one possible implementation, the instrument device 100 typically includes an instrument base 1, an instrument end 2, and an isolation seat 3 (also referred to as a sterile isolation seat). The instrument base 1 is typically equipped with multiple replaceable instrument ends 2, allowing selection of one or more instrument ends 2 for different surgeries. The instrument base 1 is typically equipped with multiple power mechanisms related to the rotation and movement of the instrument ends 2, and the instrument ends 2 are equipped with multiple drive transmission mechanisms 201 corresponding to each power mechanism. Based on the coordinated connection of the power mechanisms and drive transmission mechanisms, the instrument ends 2 can be rotated when the surgical robot is in a working state (referring to a working state related to the current surgery, not for achieving the lifespan indication function described below). By sharing a single drive transmission mechanism 201 between the indicating component 42 and the end effector of the instrument ends 2, a degree of miniaturization of the instrument device 100 is achieved.

[0026] For example, the instrument end 2 includes an instrument cover 21, a rod 22, and a base 23. The instrument cover 21 and the drive transmission mechanism 201 are disposed on the base 23, the rod 22 is disposed on the base 23, and an end effector 221 is disposed at the end of the rod 22. Obviously, those skilled in the art can flexibly determine the structural form of the instrument end and its components, the connection method between the components, etc., according to actual needs.

[0027] It should be noted that the drive connection here should be understood as follows: when the drive transmission mechanism 201 issues a drive action, the lever 22 of the instrument end 2 will simultaneously generate a rotational action associated with the drive action; that is, the lever 22 will rotate in response to the drive of the drive transmission mechanism 201. Under this premise, those skilled in the art can determine the structural form of the drive transmission mechanism 201 and the specific way in which it establishes a drive connection with the lever 22 corresponding to the rotation according to actual needs. This may include, but is not limited to: the drive transmission mechanism 201 includes a drive component that can directly provide a driving force corresponding to the rotation (such as a motor, any type of rotation module, etc.). In this case, the drive component can be directly connected to the instrument end 2 (e.g., it may not include the transmission mechanism) or indirectly connected to the lever 22 through the transmission mechanism (e.g., by adjusting the transmission ratio through a gear pair, etc.). The drive transmission mechanism 201 includes a drive component and a transmission mechanism. The driving force provided by the drive component cannot directly correspond to rotation (such as a power cylinder, any type of linear module, etc.). Therefore, the drive component is connected to the rod 22 through the transmission mechanism (such as a gear and rack mechanism, a lead screw and nut mechanism, etc.) and thus realizes a drive connection corresponding to rotation.

[0028] Furthermore, the instrument device 100 also includes an indicator component 4, which comprises a movable component 41 and an indicator part 42. The aforementioned drive transmission mechanism 201 is also drivenly connected to the movable component 41, thereby enabling the movable component 41 to drive the indicator part 42 to move. The movable component 41 can drive the indicator part 42 to rotate, thus characterizing the service life status of the currently installed instrument end 2 (for service life indication). To ensure the quality of the surgical robot, each instrument end 2 has a strict service life cycle. The service life status of the instrument end 2 can be characterized by accumulated usage time, accumulated usage times, and characteristic parameters of the instrument end 2 itself (such as contour, image features of the outer surface, etc.). When the current service life status reaches or approaches the critical point of the service life cycle, the reliability of surgery performed through the instrument end 2 of the surgical robot can be ensured by disallowing the current surgery or treating the current surgery as the last surgery.

[0029] Provided that the drive connection can be established, those skilled in the art can determine the structural form of the active component 41, the number of its components, and the specific movement mode of the indicator component 42 according to actual needs. For example, in addition to rotation, it can also be linear motion, non-circular curvilinear motion, or a combination of multiple and / or various motions.

[0030] Based on this, by employing a single drive transmission mechanism 201 to simultaneously realize the lifespan indication function of the instrument end 2 and a certain action of the instrument end 2 during surgery, the number of components of the instrument end 2 is reduced, thereby reducing the size and weight of the instrument device 100 and achieving miniaturization of the instrument device 100 to a certain extent. Furthermore, due to the integrated arrangement of the drive transmission mechanism 201 corresponding to the two functions, the structure of the instrument device 100 can be made more compact.

[0031] In one possible implementation, the movable component 41 includes a first movable part 411 and a second movable part 412. In this example, the first movable part 411 has a ring-shaped structure (such as a docking ring), and the second movable part 412 includes a rotating shaft. For example, the rotating shaft is connected to the rod 22 of the instrument end 2. The drive transmission mechanism 201 can be connected to the rotating shaft by means of belt drive, thereby driving the rotating shaft to rotate. The docking ring can be fixed or sleeved on the rotating shaft so that the rotating shaft drives the docking ring to rotate.

[0032] In one possible implementation, the mating ring is provided with a first mating feature A, a second mating feature B, and a third mating feature C. The first mating feature A can be mated with the indicating member 42, thereby causing the mating ring to drive the indicating member 42 to rotate (slide along the support member 43) to switch the current indicating state. The second mating feature B is mainly used to realize the foolproof function described below. The third mating feature C is mated with the rotating shaft, thereby realizing the mating ring and the rotating shaft to be sleeved and kept relatively fixed.

[0033] Main reference Figure 6In this example, the mating ring includes a lower ring and an upper ring distributed axially. The inner diameter of the upper ring is slightly larger than that of the lower ring. It is mounted on the rotating shaft by mating with the shaft diameter. The first mating feature A is an upper protrusion (a protrusion provided on the upper edge of the upper ring). Correspondingly, a groove that can mate with the upper protrusion may be provided below the indicating component 42. The third mating feature C is an inner protrusion (a protrusion provided on the inner wall of the upper ring). Correspondingly, a limiting boss C1 (or a groove or other structure) that can abut against the inner protrusion in the circumferential direction is provided on the outer wall of the rotating shaft. Obviously, those skilled in the art can determine the specific structural form, number, distribution state, and setting position of the first / third mating feature C on the first moving component 411 and its specific mating method according to actual needs. For example, the matching pair of features can be interchanged, and the mating features can be mated with the existing / added structure of the corresponding component. The docking ring is just one exemplary description of the first movable component 411. Those skilled in the art can determine the structural form, number, and connection method between the first movable component and the rotation axis and the indicating component 42 according to actual needs. For example, it may include two ring-shaped / arc-shaped structures, or a generally Z / U-shaped structure (such as including two arc-shaped parts).

[0034] In one possible implementation, the indicating component 4 further includes a support member 43 disposed on the base 23 of the instrument end 2, with the indicating component 42 slidably disposed on the support member 43. In this example, the support member 43 includes a first support portion 431 corresponding to the mounting position of the indicating component 42. In this example, the first support portion 431 is an arc-shaped plate with an open area in the middle that effectively exposes the lifespan status display portion 421 of the indicating component 42. For example, a lifespan status display hole 211 is provided on the instrument cover 21 of the instrument end 2. When the indicating component 42 slides to a position corresponding to the lifespan status of the instrument end 2, the lifespan status display portion 421 of the indicating component 42 will be displayed through the lifespan status display hole 211. Obviously, those skilled in the art can determine the specific structural form, number, and specific manner in which the support member 43 is disposed on the instrument base 1 according to actual needs. For example, the support member 43 can be formed by splicing or fixing two or more components together, or by integral molding. Furthermore, the first support portion 431 can also include one or more parts.

[0035] In this example, the lifespan status display section 421 includes two partitions arranged along the sliding direction. These two partitions can be identified by different colors; for example, they can be displayed in red and white (referred to as the first partition and the second partition, respectively). If the instrument end is not installed in the instrument holder and the lifespan status display hole 211 is red, it indicates that the current instrument end 2 has reached the end of its lifespan (e.g., it is not allowed to be used again). The marking corresponding to the first partition can be called a scrap mark. Similarly, if the instrument end is not installed in the instrument holder and the lifespan status display hole 211 is white, it indicates that the current instrument end 2 is still within its service life (can be used normally). The marking corresponding to the second partition can be called a normal use mark.

[0036] For example, two state slots are provided at different positions along the circumference on the inner side of the first support portion 431, such as the initial position slot 4331 and the end-of-life position slot 4332 (see reference). Figure 8 and Figure 9 The outer side of the indicator component 42 is provided with an indicator protrusion 423 that can mate with the two status slots (see reference). Figure 8 For example, when the current instrument end 2 reaches the end of its service life, the rotation of the mating ring causes the protrusion on the outside of the indicator part 42 to engage with the end-of-life position groove 4332. Obviously, those skilled in the art can determine the specific configuration of the life status display part 421 according to actual needs, such as changing the color of the partition, increasing the number of partitions, or constructing partitions by other means (such as other elements besides color or multiple elements including color).

[0037] In one possible implementation, the instrument device 100 further includes a first guide assembly. Taking the aforementioned first support portion 431 as an arc-shaped plate as an example, the first guide assembly includes a first guide structure 51 disposed on the upper side of the arc-shaped plate and a second guide structure 52 disposed on the base 23 of the instrument end 2. Correspondingly, the indicating component 42 is provided with a first indicating guide structure 4221 and a second indicating guide structure 4222 at positions corresponding to the first guide structure 51 and the second guide structure 52. In this example, the first guide structure 51 and the second guide structure 52 are respectively guide grooves disposed on the top of the arc-shaped plate and the upper surface of the base 23 of the instrument end 2. The first indicating guide structure 4221 and the second indicating guide structure 4222 are both protruding ends that can extend into the guide groove. For example, the first indicating guide structure 4221 includes two short arc-shaped bosses, and the second indicating guide structure 4222 is a long arc-shaped boss. The bosses can extend into the guide groove and slide freely along the length of the groove.

[0038] Obviously, the cooperation between the guide groove and the boss is only one exemplary implementation of the sliding connection. Those skilled in the art can flexibly modify it according to actual needs, such as making the first guide structure 51 and the second guide structure 52 different, including only one guide structure, swapping the positions of the guide groove and the boss, swapping the structural forms of the protruding ends corresponding to the positions of the first / second guide structures 52, or setting them to the same structural form, etc. For example, the groove wall of the guide groove is a U-shaped structure, and after the protruding end extends into the guide groove from one side, it can slide freely in the guide groove without sliding out of the guide groove.

[0039] Further reference Figures 4 to 5 , Figure 11 In one possible implementation, the instrument device 100 further includes a foolproof component 6, which includes a foolproof base 61 movably disposed on the support member 43. The foolproof base 61 is provided with a first limiting structure 621 and a second limiting structure 622. As in this example, the foolproof base 61 can move relative to the base 23 / instrument seat 1 in a vertical direction (in the assembled state, assuming the instrument end and instrument seat of the instrument device are approximately horizontally mounted; the vertical direction means the foolproof base can move closer to or further away from the base 23 / instrument seat 1 by movement in a generally vertical direction, see reference). Figure 3 The double arrows in the diagram generate a certain amount of displacement (extendable). Based on this, through the movement of the anti-misoperation base 61 relative to the instrument base 1, the anti-misoperation base 61 can be in a first position (which can be understood as a first height) when the instrument end 2 is not installed, and in a second position (which can be understood as a second height higher than the first height) when the instrument end 2 is installed. At the same time, the first movable component 411 is provided with a second mating feature B. When the anti-misoperation base 61 is in the first position, the second mating feature B can engage with the first limiting structure 621. When the anti-misoperation base 61 is in the second position, the second mating feature B can engage with the second limiting structure 622. In other words, by setting the anti-misoperation component 6, the correct installation of the first movable component 411 can be guaranteed in the two different states corresponding to the installation of the instrument end 2 and the absence of the instrument end 2, thereby ensuring the installation and operational reliability of the instrument device 100.

[0040] Taking the first movable component 411 as the docking ring as an example, in this example, the second mating feature B is an external protrusion (a protrusion set on the outer wall of the upper ring), and the first / second limiting structure consists of two limiting surfaces (referred to as the first limiting surface (limiting surface) and the second limiting surface (extending surface) respectively). The second mating feature B and the first / second limiting structure are mated by abutting each other. Specifically, the external protrusion can abut against the limiting surface or the extending surface along the circumferential side wall of the docking ring to ensure the reliability of the abutment. Furthermore, compared to the first position where the external protrusion mates with the limiting surface, in addition to a certain position along the height direction, the external protrusion must also rotate a certain amount (the docking ring rotates) so that the foolproof base 61 can reach the second position where it can mate with the extending surface.

[0041] For example, the first movable component 411, whose second mating feature B mates precisely with the first limiting structure 621, can be referred to as the first movable component 411 in the first posture (reference posture, abutting against the limiting surface), and the first movable component 411, whose second mating feature B mates precisely with the second limiting structure 622, can be referred to as the first movable component 411 in the second posture (the anti-foolproof base is lifted, and the docking ring requires a certain amount of rotation to engage). Based on this, the switching between the first posture and the second posture is achieved by changing the position of the first movable component 411. In this way, provided that the height difference is achieved, the docking ring can be rotated relative to the instrument seat 1 by driving the transmission mechanism 201, thereby allowing the first movable component 411 to switch between the two postures.

[0042] For example, the foolproof base 61 is generally a cuboid structure (one side is curved). The drive pin can lift the foolproof base 61 from the bottom of the cuboid, and after a portion of one edge of the cuboid corresponding to the curved surface is recessed (cut off) near the bottom, an extension surface is formed. The structure above the extension surface can be called a limiting surface. Obviously, those skilled in the art can determine the structural form of the foolproof base 61, the first / second limiting structure, the setting position of the first / second limiting structure on the foolproof base 61, and the specific design differences between the first and second limiting structures 622 (such as structure, height difference, rotation amount, etc.) according to actual needs.

[0043] In one possible implementation, the isolation seat 3 of the instrument device 100 is provided with one or more first protrusions 31 (such as driving pins). When it is necessary to install the instrument end 2 onto the instrument seat 1, the first protrusions 31 will lift the anti-misalignment base 61 from below, thereby causing the anti-misalignment base 61 to move upward relative to the second support portion 432 of the support member 43. In this way, the anti-misalignment base 61 can switch its height by means of the protrusion structure. In the reference state, the second mating feature B of the docking ring abuts against the upper limiting surface. As the anti-misalignment base 61 is lifted, the second mating feature B of the docking ring abuts against the lower extension surface (the extension surface rises when the anti-misalignment base 61 is lifted). In this example, considering the reliability of docking, a second docking protrusion 611 (such as a driving protrusion) is provided at the bottom of the anti-misalignment base 61 corresponding to the position of the driving pin.

[0044] Main reference Figure 3 In one possible implementation, an elastic component 7 is provided between the support member 43 and the foolproof base 61. For example, in this example, the support member 43 includes a second support portion 432 corresponding to the foolproof function, and the elastic component 7 is disposed between the foolproof base 61 and the second support portion 432. Thus, when the instrument end 2 is removed from the instrument seat 1 / isolation seat 3, the foolproof base 61 can move downwards by means of the preload of the elastic component 7, thereby resetting the foolproof base 61. Specifically, the limiting surface falls back, and the docking ring returns to its reference posture. In this way, the outer protrusion on the docking ring can abut against the upper limiting surface (the foolproof base 61 is pulled back, and the limiting surface descends).

[0045] For example, the elastic component 7 may include one or more springs. Taking an elastic component 7 comprising a single spring as an example, a first mounting structure and a second mounting structure may be respectively provided on the support component 43 and the anti-misalignment base 61. The upper and lower ends of the spring can respectively engage with the first and second mounting structures. Exemplarily, the bottom of the second support portion 432 is an open area corresponding to the aforementioned drive pin and drive protrusion. The first mounting structure is a mounting cavity formed on the top of the second support portion 432, and the upper end of the spring abuts against the top of the second mounting portion corresponding to the mounting cavity. The second mounting structure is the upper surface of the anti-misalignment base 61, meaning the lower end of the spring directly abuts against the upper surface of the anti-misalignment base 61. Clearly, those skilled in the art can determine the structural form of the elastic component 7 and its specific installation method in the device 100 according to actual needs. To ensure the reliability of spring installation, a protruding end similar to the aforementioned drive protrusion can be added to the upper surface of the foolproof base 61 as a second mounting structure. In this way, the lower end of the spring can be fitted onto the second mounting structure, or the two ends of the spring can be directly fixed to the support component 43 and the foolproof base 61 respectively using fasteners. Furthermore, the forms of the first and second mounting structures can be interchanged (the first mounting structure is a protrusion, the second mounting structure is a receiving cavity), they can be unified into the same structure, or the structure can be changed to any other reasonable structural form.

[0046] Main reference Figure 3 In one possible implementation, during the vertical movement of the anti-mistake base 61, to ensure the stability and reliability of the anti-mistake base 61 during position switching, a second guide component 8 can be configured for the anti-mistake base 61. In this example, the second guide component 8 includes multiple guide pins; specifically, two guide pins are positioned approximately diagonally. Correspondingly, guide holes are provided on the support component 43 and the anti-mistake base 61. Obviously, those skilled in the art can replace the guide pins with other reasonable structural forms such as guide plates or guide rails according to actual needs.

[0047] As can be seen, in the preferred embodiment of this application, the lifespan indication function and the rotation function corresponding to the current surgery are realized through the shared drive transmission mechanism 201. Since the components are saved, it is beneficial to realize the miniaturization of the surgical robot and is expected to make the structure of the instrument device 100 more compact. With the setting of the foolproof component 6, the cooperation between the extension and retraction movement of the foolproof base 61 and the rotation of the first movable part 411 can reliably realize the cooperation relationship under different postures, and construct the cooperation mode of the first movable part 411 of the instrument device 100 in the case of instrument end 2 installation and instrument end 2 not installed, thereby ensuring the reliability of the instrument device 100 in both cases.

[0048] Furthermore, this application provides a control method for a surgical robot, mainly used in an instrument device 100 based on (but not limited to) the above-described structure to realize the service life status indication function of the instrument end 2. The service life status of the instrument end 2 can be described by cumulative usage time, cumulative usage count, characteristic parameters of the instrument end 2 itself, etc. For example, the cumulative usage count is used to describe the service life status of the instrument end.

[0049] If those skilled in the art can determine and adopt any reasonable method according to actual needs to establish a mapping with the controller configured by the surgical robot (such as a local controller, cloud controller, etc.), so that when any identifiable instrument end 2 is installed as the current instrument end 2 to the instrument base 1, the service life status of the instrument end 2 can be accurately obtained, and the service life status of the current instrument end 2 can be accurately conveyed through the display of the indicator component 42.

[0050] In one possible implementation, the control method of the surgical robot mainly includes: when the instrument end is installed on the instrument base, the drive transmission mechanism of the instrument end drives the movable component to move according to the service life of the instrument end, and thus the movable component drives the indicator component to move.

[0051] For example, when the instrument tip is mounted on the instrument base, before use, the number of times the instrument tip has been used can be determined by identifying it. If the number of uses has reached the maximum set for the current instrument tip, a pre-established mapping relationship between rotation and indication results is used to drive the indicator component to rotate a certain amount. A red indicator corresponding to this rotation is displayed through the lifespan status display hole on the instrument cover. If the instrument tip is not removed from the instrument base at this time, the current surgical procedure can still be completed using this instrument tip (e.g., ensuring the surgery can be completed even if the surgeon has not prepared any extra usable instrument tips). However, after the current surgical procedure is completed, once the instrument tip is removed from the instrument base, it cannot be used again. Otherwise, the lifespan status display hole displays a white indicator, meaning that the current instrument tip is permitted for this surgical procedure and at least the next surgical procedure.

[0052] In this application, the life indication function and the rotation function share a single drive transmission mechanism. Therefore, during the operation, the drive transmission mechanism can also drive the instrument end to generate a rotation related to the operation (at this time, the rotation connection related to the indication has been released).

[0053] In one possible implementation, the movable component includes a first movable part, which may include, but is not limited to, a mating ring. The first movable part is capable of engaging with an indicating component via a first mating feature such as an upper protrusion disposed thereon. Accordingly, "causing the drive transmission mechanism at the instrument end to drive the movable component to move, and thus causing the movable component to move the indicating component" may include: causing the drive transmission mechanism to drive the first movable part to move, thereby causing the indicating component to move through the engaging connection of the first mating feature on the first movable part with the indicating component.

[0054] In one possible implementation, the movable component further includes a second movable part, such as a rotating shaft. The drive transmission mechanism can be directly connected to the rotating shaft via belt drive or other means. The rotating shaft can be engaged with a third mating feature, such as an inner protrusion on the mating ring. Accordingly, "causing the drive transmission mechanism to drive the first movable part to move" includes: causing the drive transmission mechanism to drive the second movable part to move, and the second movable part driving the first movable part to move through the engagement of the third mating feature on the second movable part with the first movable part.

[0055] Furthermore, this application provides a computer-readable storage medium including a memory adapted to store multiple lines of program code, which are adapted to be loaded and executed by a processor to perform the aforementioned control method for a surgical robot. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases, etc. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., etc., and are not limited to these.

[0056] Those skilled in the art will understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described herein can be implemented as electronic hardware, computer software, or a combination of both. To demonstrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps have been generally described above according to their functionality. Whether such functionality is implemented in hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in varying ways for specific applications; however, such implementation decisions should not be construed as departing from the scope of this application.

[0057] Furthermore, this application also provides a computer device including a memory and a processor, the memory being adapted to store a plurality of program codes, the program codes being adapted to be loaded and executed by the processor to perform the aforementioned control method for a surgical robot.

[0058] This computer device can be a computer control device comprising various electronic devices. It may include a processor, memory, input / output interfaces, a communication interface, a display unit, and input devices. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input devices are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a control method for a surgical robot. The display unit of the computer device is used to form a visually visible image and may be a display screen, a projection device, or a virtual reality imaging device, etc. The display screen can be an LCD screen or an e-ink screen, etc. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs or touchpads set on the computer device casing, or external keyboards, touchpads or mice, etc.

[0059] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A medical device, characterized in that, The device includes: Instrument stand; An instrument end, which can be disposed on the instrument base, the instrument end including a drive transmission mechanism and a rod portion, the drive transmission mechanism being capable of driving the rod portion to rotate; and An indicator component, comprising an active component and an indicator part; The drive transmission mechanism is also connected to the movable component, thereby enabling the movable component to drive the indicator component to move.

2. The device according to claim 1, characterized in that, The indicating component includes: A support component is disposed at the end of the instrument; The indicating component is slidably disposed on the supporting component; The active component includes a first active part, which has a first mating feature that can be mated and connected with the indicating part.

3. The device according to claim 2, characterized in that, The instrument end includes a base, and the drive transmission mechanism is disposed on the base. The instrument device includes a first guide assembly, the first guide assembly comprising: A first guide structure is disposed on the support member; and / or A second guide structure is disposed on the base; The indicating component is slidably connected to the first guide structure and / or the second guide structure.

4. The device according to claim 2 or 3, characterized in that, The device includes a foolproof component, which includes: A foolproof base, which is movably disposed at the end of the instrument, so as to: The foolproof substrate can be in a first position and a second position based on this activity; The first movable component is provided with a second mating feature, which can be mated and connected with the foolproof substrate located in the first position or the second position.

5. The device according to claim 4, characterized in that, The error-proof substrate can be mounted on the instrument end in a vertically telescopic manner relative to the instrument base. Wherein, when the anti-mistake base is in the first position, the second mating feature of the first movable component in the first posture can mate with the first limiting structure on the anti-mistake base; and When the foolproof base is in the second position, the second engaging feature of the first movable part in the second posture can engage with the second limiting structure on the foolproof base.

6. The device according to claim 5, characterized in that, The first limiting structure and the second limiting structure are respectively a first limiting surface and a second limiting surface disposed on the foolproof substrate. The drive transmission mechanism can rotate the first movable component, thereby... This causes the first movable component to switch from a first posture where the second mating feature abuts against the first limiting surface to a second posture where the second mating feature abuts against the second limiting surface; Accordingly, the foolproof substrate switches from the first position to the second position.

7. The medical device according to claim 6, characterized in that, The device end includes a base. The active component includes a second active part. The drive transmission mechanism can drive the first movable component to rotate relative to the base via the second movable component, thereby: This causes the first movable component to switch from a first posture where the second mating feature abuts against the first limiting surface to a second posture where the second mating feature abuts against the second limiting surface.

8. The device according to claim 7, characterized in that, The first movable component is provided with a third mating feature, and the first movable component can be connected to the second movable component through the third mating feature.

9. The device according to claim 5, characterized in that, The device also includes an isolation seat. The isolation seat is provided with a first protrusion so that: When the instrument end is installed onto the isolation seat, the foolproof base can move upward by engaging with the first protrusion, thereby: This causes the foolproof substrate to switch from the first position to the second position.

10. The device according to claim 9, characterized in that, An elastic component is provided between the support member and the anti-fouling base so that: When the instrument end is removed from the isolating seat, the foolproof base can move downward by means of the preload of the elastic component, thereby: This causes the foolproof substrate to switch from the second position to the first position.

11. The device according to claim 10, characterized in that, The support component and the anti-fouling base are respectively provided with a first mounting structure and a second mounting structure, and the first side and the second side of the elastic component can respectively cooperate with the first mounting structure and the second mounting structure.

12. The device according to claim 10, characterized in that, A second guide component is provided between the support component and the foolproof base.

13. A surgical robot, characterized in that, The surgical robot includes the instrumentation device according to any one of claims 1 to 12.

14. A control method for a surgical robot, characterized in that, The surgical machine includes an instrument end, an instrument base, and an indicating assembly, wherein the indicating assembly includes a movable component and an indicating part. The control method includes: When the instrument end is installed on the instrument base, the drive transmission mechanism of the instrument end drives the movable component to move according to the service life of the instrument end, and thus the movable component drives the indicator component to move. When the instrument end is mounted to the instrument base, the drive transmission mechanism selectively drives the rod portion of the instrument end to rotate.

15. The control method according to claim 14, characterized in that, The active component includes a first active part. The phrase "causing the drive transmission mechanism at the instrument end to drive the movable component to move, and thus causing the movable component to drive the indicating component to move" includes: The drive transmission mechanism at the end of the instrument drives the first movable component to move, and the first mating feature on the first movable component engages with the indicating component to make the indicating component slide.

16. The control method according to claim 15, characterized in that, The active component includes a second active part. The phrase "causing the drive transmission mechanism at the instrument end to drive the first movable component to move" includes: The drive transmission mechanism at the end of the instrument drives the second movable component to move, and the second movable component drives the first movable component to move through the cooperation of the third mating feature on the first movable component.

17. A computer-readable storage medium comprising a memory adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the control method of the surgical robot according to any one of claims 14 to 16.

18. A computer device, the device comprising a memory and a processor, the memory being adapted to store a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to perform the control method of the surgical robot described in any one of 14 to 16.

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