Sterile cover installation detection device and surgical robot

Abstract

The embodiment of the utility model provides a sterile cover installation detection device and a surgical robot. The sterile cover is provided with a first magnetic adsorption piece, the sterile cover comprises a fixed seat, a second magnetic adsorption piece is arranged on the fixed seat, at least one of the first magnetic adsorption piece and the second magnetic adsorption piece is a permanent magnet, and the other one of the first magnetic adsorption piece and the second magnetic adsorption piece is a ferromagnetic material piece or a permanent magnet; the second magnetic adsorption part is configured to be attracted with the first magnetic adsorption part so as to fix the sterile cover; the detection mechanism is arranged on the fixed seat; the triggering piece is movably arranged on the fixed seat, and at least part of the triggering piece protrudes out of the fixed seat; under the condition that the first magnetic attraction piece and the second magnetic attraction piece are attracted and attached to the fixing base, the first magnetic attraction piece is pressed to the triggering piece so that the triggering piece can move to a preset position towards the fixing base; the trigger part is configured to trigger a detection signal of the detection mechanism when at a preset position, and the detection signal is configured to indicate that the first magnetic adsorption part is installed in place. And the sterile cover is not easy to loosen after being mounted.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a sterile cover installation detection device and a surgical robot. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Minimally invasive surgical robots can avoid operational limitations, such as hand tremors during filtering operations, with their high dexterity, high control accuracy and intuitive surgical images, and are widely used in surgical areas such as the abdomen, pelvis and chest.

[0003] The minimally invasive surgical robot includes a main control console (master end) and a slave manipulator arm (slave end). The main control console collects the doctor's operation signal and generates the control signal of the slave manipulator arm after processing by the control system, and the slave manipulator arm performs the surgical operation. The minimally invasive surgical robot has matching surgical instruments, which are mounted on the power box of the slave manipulator arm and are used to be manipulated by the doctor to perform the surgical operation. In robotic abdominal minimally invasive surgery, a sterile cover (also called a sterile protective cover) is required to isolate the robotic arm, power box, column and other areas from sterile instruments, surgical environment, etc. The sterile cover is usually divided into a column cover and a robotic arm cover; among them, the column cover is a single sheet, which is enclosed on the column and fixed at the upper end with a magnetic sheet; the robotic arm cover is a sleeve with an open end, which is put into the robotic arm and tightened by a pull rope at the proximal end of the robotic arm, and fixed with a magnetic sheet at the opposite end of the closing. However, the structure of the magnetic sheet bonding needs to ensure easy installation and removal on the one hand, that is, the magnetic force cannot be too large; on the other hand, it needs to ensure the reliability of the bonding, that is, the magnetic force cannot be too small; that is to say, there is a relatively strict requirement for the size of the magnetic force, and whether the sterile cover is installed correctly and in place greatly affects the size of the magnetic force; therefore, ensuring correct and in place installation becomes a problem that needs to be solved urgently.

[0004] In the related technology, for example, Chinese utility model patent CN217525352U discloses a cover installation detection mechanism and a surgical robot thereof, including a detection module and a metal part. The detection module includes a hollow magnetic part and a detection part aligned with the hollow structure of the magnetic part for detecting changes in magnetic field strength. When the detection part detects changes in magnetic field strength, at least part of the metal part is aligned with the hollow structure of the magnetic part.

[0005] However, the related art can only detect whether the metal parts of the sterile cover exist, but cannot detect whether the metal sheet is installed in place. If it is not installed in place, the sterile cover will be pulled during the operation of the robotic arm, causing the sterile cover to be easily pulled off. Utility Model Content

[0006] The embodiments of the present application provide a sterile cover installation detection device and a surgical robot, which can detect whether the magnetic adsorption component on the sterile cover is installed in place to ensure that the sterile cover is not easily pulled off after installation.

[0007] On the one hand, a sterile cover installation detection device is provided, which is used to detect the installation of the sterile cover. The sterile cover is provided with a first magnetic adsorption member, and the detection device includes:

[0008] A fixing seat, on which a second magnetic adsorption member is disposed, at least one of the first magnetic adsorption member and the second magnetic adsorption member is a permanent magnet, and the other is a ferromagnetic material member or a permanent magnet; the second magnetic adsorption member is configured to be attracted to the first magnetic adsorption member to fix the sterile cover;

[0009] The detection mechanism is arranged on the fixed seat;

[0010] The trigger member is movably disposed on the fixing seat, and at least a portion of the trigger member protrudes from the fixing seat; when the first magnetic adsorption member and the second magnetic adsorption member are attracted and attached to the fixing seat, the first magnetic adsorption member is pressed against the trigger member, so that the trigger member moves toward the fixing seat to a preset position;

[0011] The triggering member is configured to trigger a detection signal of the detection mechanism when in a preset position, and the detection signal is configured to indicate that the first magnetic adsorption member is installed in place.

[0012] In one implementation, the detection mechanism includes:

[0013] A signal transmitting element configured to emit a detection signal;

[0014] A signal receiving element, configured to receive a detection signal sent by the signal transmitting element;

[0015] When the trigger element moves to a preset position, the trigger element is configured to change the signal transmission ratio between the signal transmitting element and the signal receiving element to trigger a detection signal.

[0016] In one implementation, the detection mechanism includes any one of a beam-type switch and a photoelectric switch;

[0017] The signal transmitting component and the signal receiving component are arranged opposite to each other. When the trigger component is in a preset position of the activity, the trigger component is located between the signal transmitting component and the signal receiving component.

[0018] In one implementation, the detection mechanism includes a travel switch.

[0019] In one implementation, the fixing seat has a first end surface, a second end surface and a first through hole; the first end surface and the second end surface are two opposite end surfaces of the fixing seat, and the first through hole penetrates the first end surface and the second end surface;

[0020] The first end surface is concave to form a first accommodating cavity, and the second magnetic adsorption component is arranged in the first accommodating cavity;

[0021] The triggering member is movably disposed in the first through hole, and at least a portion of the triggering member protrudes toward the second end surface.

[0022] In one implementation, the second end surface is recessed to form a second accommodating cavity, and the second accommodating cavity is configured to accommodate the first magnetic adsorption member;

[0023] The first end of the trigger member protrudes from the bottom wall of the second accommodating cavity.

[0024] In one implementation, the first end protrudes from the bottom wall of the second accommodating cavity by a first distance; the second end of the trigger member is at a second distance from the preset position;

[0025] The first distance is equal to the second distance.

[0026] In one implementation, the first through hole is located at the axis of the fixing seat, the second magnetic adsorption component is annular, and the second magnetic adsorption component is sleeved on the outer periphery of the trigger component.

[0027] In one implementation, the first accommodating cavity includes a first sub-cavity and a second sub-cavity, the first sub-cavity surrounds the outer circumference of the second sub-cavity, and an isolation piece is provided between the first sub-cavity and the second sub-cavity;

[0028] The second magnetic adsorption component is located in the first sub-cavity, the trigger component is located in the second sub-cavity, and the trigger component moves relative to the fixing seat along the axial direction of the second sub-cavity.

[0029] In one implementation, the inner diameter of the second sub-cavity is greater than the diameter of the first through hole;

[0030] The peripheral wall of the trigger member is provided with a protrusion. When the trigger member protrudes from the fixing seat, the protrusion is configured to abut against the bottom wall of the second sub-cavity to restrict the trigger member in the second sub-cavity.

[0031] In one implementation, it further includes a reset member, which is disposed in the second sub-cavity and one end of which is connected to the protruding portion; the reset member is configured to provide a reset force toward the second end surface to the trigger member.

[0032] In one implementation, it further includes a circuit board, which is arranged on a side of the fixing base facing away from the first magnetic adsorption component; and the detection mechanism is arranged on a side of the circuit board facing away from the fixing base;

[0033] The circuit board is provided with a second through hole, and the triggering member is penetrated in the second through hole.

[0034] In one implementation, a communication interface is provided on the circuit board, and the communication interface is configured to communicate with a controller of the surgical robot to send a trigger signal of the detection mechanism to the controller.

[0035] In another aspect, a surgical robot is provided, comprising:

[0036] Base;

[0037] A column, arranged on the base, on which the sterile cover installation detection device provided in any of the aforementioned implementations is provided;

[0038] A vertical shaft, suspended on the column, on which the sterile cover installation detection device provided in any of the aforementioned implementations is provided;

[0039] The operating arm is connected to the vertical axis, and is configured to connect to the end instrument.

[0040] In one implementation, sterile cover installation detection devices are provided on opposite sides of the vertical axis.

[0041] According to the sterile cover installation detection device and surgical robot provided by the embodiment of the present application, a second magnetic adsorption member is arranged on the fixing seat, and a first magnetic adsorption member is arranged on the sterile cover, at least one of the first magnetic adsorption member and the second magnetic adsorption member is a permanent magnet, and the other is a ferromagnetic member or a permanent magnet, so that the first magnetic adsorption member and the second magnetic adsorption member can fix the sterile cover by magnetic attraction; a detection mechanism and a trigger member are arranged on the fixing seat, the trigger member is movably connected to the fixing seat, and at least part of the trigger member protrudes from the fixing seat; so that after the first magnetic adsorption member and the second magnetic adsorption member are magnetically attached to each other, the first magnetic adsorption member can be pressed onto the trigger member, so that the trigger member moves toward the fixing seat to a preset position; when the trigger member is at the preset position, the trigger member can trigger the detection signal of the detection mechanism; so that the detection signal of the detection mechanism can indicate that the first magnetic adsorption member and the second magnetic adsorption member are in a completely attached state, thereby ensuring that the magnetic adsorption member on the sterile cover is installed in place and that the sterile cover is not easily pulled off after installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic diagram of cooperation between a slave end of a surgical robot and an operating table according to some embodiments of the present application;

[0044] Figure 2 It is a schematic structural diagram of a vertical axis in a surgical robot provided according to some embodiments of the present application;

[0045] Figure 3 A schematic diagram of the structure of a surgical robot with a vertical axis without a shell provided according to some embodiments of the present application;

[0046] Figure 4 A schematic diagram of the structure of a sterile cover installation detection device in a surgical robot provided according to some embodiments of the present application;

[0047] Figure 5 For along Figure 4 Sectional view along line AA;

[0048] Figure 6 An exploded view of the cooperation between the fixing seat, the second magnetic adsorption member and the trigger member in the surgical robot provided according to some embodiments of the present application;

[0049] Figure 7 This is another exploded view of the cooperation between the fixing seat, the second magnetic adsorption component and the trigger component in the surgical robot provided according to some embodiments of the present application.

[0050] Description of reference numerals:

[0051] 10-base; 20-column; 30-vertical axis; 40-operating arm; 50-sterile cover installation detection device;

[0052] 301-housing; 510-fixing seat; 520-detection mechanism; 530-trigger; 540-circuit board;

[0053] 511-second magnetic adsorption member; 512-first end surface; 513-second end surface; 514-first through hole; 515-first accommodating cavity; 516-second accommodating cavity; 521-signal transmitting member; 522-signal receiving member; 531-protruding portion; 541-second through hole; 542-communication interface;

[0054] 5111 - central axis hole; 5151 - first sub-cavity; 5152 - second sub-cavity; 5153 - isolating piece. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0056] In this application specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0057] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0058] The following terms used herein are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., can be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for the convenience of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation of the top and bottom. And the device can be oriented in other ways (for example, rotated 90 ° or in other orientations), and the spatially relative descriptors used here are interpreted accordingly.

[0059] As used herein, "several", the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0060] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0061] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0062] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably connected" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are removably connected can be unconnected and separated so that they no longer operate in conjunction.

[0063] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0064] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0065] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0066] The patient surgical platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. Surgical instruments and / or laparoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0067] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for observation by the assistant.

[0068] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0069] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresentation surgery will be familiar with such systems and their components.

[0070] Figure 1 This is a schematic diagram of the cooperation between the slave end of the surgical robot and the operating table according to some embodiments of the present application.

[0071] For some examples, refer to Figure 1 As shown, in order to prevent the sterile column 20, robotic arm, power box and other areas of the surgical robot from contaminating the sterile instruments and surgical environment, the column 20, robotic arm and power box need to be isolated by a sterile cover (in some examples, also called a sterile protective cover) before each operation.

[0072] In some examples, the sterile cover may include a column cover. The column cover may be disposed on the periphery of the column 20 to isolate the column 20.

[0073] In some examples, the column cover can be a single sheet structure. After the sheet structure is enclosed on the column 20, a magnetic sheet can be used to fit and fix it at the upper end.

[0074] In some examples, to ensure that the column cover is installed in place, a sterile cover installation detection device 50 can be set on the column 20 to detect whether the column cover is installed in place to ensure that the column cover is installed in place. After the column cover is installed in place, a prompt that it is installed in place is given on the surgical robot, such as the image platform UI, and a few seconds after it is installed in place, for example, 5 seconds later, the image platform UI switches to a prompt to install the robot arm cover. Of course, the aforementioned prompts can also be reversed, first prompting to install the robot arm cover, and then prompting to install the column cover.

[0075] For some examples, refer to Figure 1 As shown, the slave end of the surgical robot may include a horizontal rod. The horizontal rod may be arranged on the top of the column 20.

[0076] In some examples, the horizontal rod may be fixedly connected to the column 20 .

[0077] Figure 2 This is a schematic diagram of the structure of the vertical axis in a surgical robot provided according to some embodiments of the present application.

[0078] For some examples, refer to Figure 1 and Figure 2 As shown, the slave end of the surgical robot may include a vertical shaft 30. The vertical shaft 30 may be suspended from a horizontal rod.

[0079] In some examples, the slave end of the surgical robot may include a manipulator arm 40. The manipulator arm 40 may be connected to the vertical shaft 30.

[0080] In some examples, the manipulator arm 40 can be configured to couple with a distal instrument.

[0081] In some examples, the operating arm 40 can move up and down along the vertical axis 30. The operating arm 40 can move up and down along the vertical axis 30 to perform a preliminary adjustment on the height position of the end instrument.

[0082] In some examples, the sterile cover may include a robotic arm cover, which is in the shape of a sleeve with an open end.

[0083] In some examples, the robot arm cover is sleeved over the operating arm 40, the power box and the vertical shaft 30, and is tightened at the far end by a pull rope. The other end of the robot arm cover can be fixed by a magnetic sheet.

[0084] In some examples, to ensure that the sterile cover is installed in place and not pulled off, refer to Figure 1 As described above, a sterile cover installation detection device 50 may be provided on the vertical axis 30. The sterile cover installation detection device 50 detects whether the robot arm cover is installed in place to ensure that the robot arm cover is installed in place.

[0085] Figure 3 This is a schematic diagram of the structure of a surgical robot with the vertical axis without the shell provided according to some embodiments of the present application.

[0086] In some examples, the sterile cover installation detection device 50 on the vertical axis 30 is used as an example for explanation, referring to Figure 3 As shown, two sterile cover installation detection devices 50 may be provided.

[0087] In some examples, two sterile cover installation detection devices 50 may be disposed on opposite sides of the vertical axis 30 .

[0088] Figure 4 This is a schematic diagram of the structure of a sterile cover installation detection device in a surgical robot provided according to some embodiments of the present application. Figure 5 For along Figure 4 Section view along line AA.

[0089] Reference Figure 4 and Figure 5 As shown, some examples of the embodiments of the present application provide a sterile cover installation detection device 50.

[0090] In some examples, the sterile cover installation detection device 50 can detect whether the sterile cover is installed in place. In this way, the sterile cover can be installed in place to ensure that the sterile cover is not easily pulled off after installation.

[0091] In some examples, a first magnetic adsorption component may be provided on the sterile cover.

[0092] In some examples, the first magnetic attraction member may include a ferromagnetic material sheet.

[0093] In some examples, the first magnetically attractive member may include a metal sheet.

[0094] In some examples, the first magnetically attractive member may include a nickel alloy sheet.

[0095] In some examples, the first magnetic attraction member may include an iron sheet.

[0096] In some examples, the first magnetically attractive member may include an iron-nickel alloy sheet.

[0097] In some examples, the first magnetic adsorbent can be fixed to the sterile cover.

[0098] In some examples, the sterile cover installation detection device 50 may include a fixing seat 510 .

[0099] In some examples, the fixing seat 510 can be disposed on the column 20 described in the previous embodiments of the present application.

[0100] In some examples, the fixing seat 510 can be disposed on the vertical shaft 30 described in the previous embodiments of the present application.

[0101] In some examples, the fixing seat 510 can be fixedly connected to the column 20 or the vertical shaft 30 by means of connecting members such as screws, bolts or threaded rods.

[0102] In some examples, the fixing base 510 can be adhered to the column 20 or the vertical shaft 30 by adhesive.

[0103] In some examples, the fixing seat 510 can be snap-fitted with the column 20 or the vertical shaft 30. For example, a buckle can be provided on the fixing seat 510, and a bayonet can be provided on the column 20 or the vertical shaft 30; the buckle is snapped into the bayonet, thereby fixing the fixing seat 510.

[0104] In some examples, the fixing seat 510 may be provided with a second magnetic adsorption member 511. The second magnetic adsorption member 511 may be configured to be attracted to the first magnetic adsorption member to fix the sterile cover.

[0105] In some examples, the second magnetic adsorbent 511 may include a ferromagnetic material sheet.

[0106] In some examples, the second magnetic adsorbent 511 may include a metal sheet.

[0107] In some examples, the second magnetic attraction member 511 may include a nickel alloy sheet.

[0108] In some examples, the second magnetic adsorbent 511 may include an iron sheet.

[0109] In some examples, the second magnetic adsorbent 511 may include an iron-nickel alloy sheet.

[0110] In some examples, the second magnetic attraction member 511 may include a permanent magnet.

[0111] In some examples, when the first magnetic adsorbent is a ferromagnetic material sheet, the second magnetic adsorbent 511 may be a permanent magnet.

[0112] In some examples, the sterile cover installation detection device 50 may include a detection mechanism 520. The detection mechanism 520 may be disposed on the fixing seat 510.

[0113] In some examples, the detection mechanism 520 may be disposed on a side of the fixing base 510 that faces away from the sterile cover or the first magnetic adsorption component.

[0114] In some examples, the sterile cover installation detection device 50 may include a trigger 530. The trigger 530 may be movably disposed on the fixing seat 510.

[0115] In some examples, a portion of the trigger member 530 may protrude from the fixing base 510 .

[0116] In some examples, a portion of the trigger member 530 may protrude from the fixing base 510 in the direction of the sterile cover or the first magnetic member and the attachment.

[0117] In some examples, when the first magnetic adsorbent is attracted to the second magnetic adsorbent 511 , the first magnetic adsorbent may be attached to the fixing base 510 .

[0118] In some examples, the first magnetic adsorption component may be attached to a surface of the fixing base 510 that is opposite to the second magnetic adsorption component 511 .

[0119] In some examples, since the first magnetic adsorption component is attached to the surface of the fixing base 510 , the first magnetic adsorption component is pressed onto the trigger component 530 .

[0120] In some examples, the first magnetic adsorption member is pressed onto the end of the trigger member 530 protruding from the fixing seat 510 . In this way, the first magnetic adsorption member can push the trigger member 530 to move toward the fixing seat 510 .

[0121] In some examples, under the pressing force of the first magnetic adsorption member, the trigger member 530 can move toward the fixing seat 510 to a preset position.

[0122] In some examples, the detection mechanism 520 may be disposed at a preset position. When the trigger member 530 moves to the preset position, the detection mechanism 520 may detect the trigger member 530, thereby triggering a detection signal.

[0123] In some examples, the triggering member 530 will be pressed to the preset position by the first magnetic adsorption member only when the first magnetic adsorption member is attached to the surface of the fixing seat 510. Therefore, the detection signal can be configured to determine that the first magnetic adsorption member is installed in place.

[0124] In some examples, when the controller receives the detection signal from the detection mechanism 520, it can determine whether the first magnetic adsorption member is attached to the fixing seat 510. In this way, it is ensured that when the sterile cover is installed, the first magnetic adsorption member can be fully installed in place, ensuring that the sterile cover is not easy to loosen after installation.

[0125] According to the sterile cover installation detection device 50 provided in some embodiments of the present application, a second magnetic adsorption member 511 is arranged on the fixing seat 510, and a first magnetic adsorption member is arranged on the sterile cover. At least one of the first magnetic adsorption member and the second magnetic adsorption member 511 is a permanent magnet, and the other is a ferromagnetic material member or a permanent magnet. In this way, the first magnetic adsorption member and the second magnetic adsorption member 511 can fix the sterile cover by magnetic attraction; a detection mechanism 520 and a trigger member 530 are arranged on the fixing seat 510, and the trigger member 530 is movably connected to the fixing seat 510, and at least a part of the trigger member 530 protrudes. on the fixing seat 510; in this way, after the first magnetic adsorbent is magnetically attached to the second magnetic adsorbent 511, the first magnetic adsorbent can be pressed onto the trigger member 530, so that the trigger member 530 moves toward the fixing seat 510 to a preset position; when the trigger member 530 is at the preset position, the trigger member 530 can trigger the detection signal of the detection mechanism 520; in this way, it can be determined through the detection signal of the detection mechanism 520 that the first magnetic adsorbent and the second magnetic adsorbent 511 are in a completely attached state, ensuring that the magnetic adsorbent on the sterile cover is installed in place, and ensuring that the sterile cover is not easily pulled off after installation.

[0126] In some examples, the detection mechanism 520 may include a travel switch.

[0127] In some examples, when the first magnetic adsorption member is attached to the surface of the fixing seat 510, the trigger member 530 is pressed to a preset position by the first magnetic adsorption member, and the trigger member 530 contacts the contact of the travel switch, thereby triggering a detection signal.

[0128] In some examples, the detection mechanism 520 may include a signal emitting element 521. The signal emitting element 521 may emit a detection signal.

[0129] In some examples, the detection mechanism 520 may include a signal receiving component 522 . The signal receiving component 522 may receive a detection signal sent by the signal transmitting component 521 .

[0130] In some examples, when the trigger element 530 moves to a preset position, the trigger element 530 may be configured to change a signal transmission ratio between the signal transmitting element 521 and the signal receiving element 522 to trigger a detection signal.

[0131] In some examples, when the triggering member 530 protrudes from the fixing seat 510, the detection signal emitted by the signal emitting member 521 can be received by the signal receiving member 522. The triggering member 530 does not block the detection signal emitted by the signal emitting member 521.

[0132] In some examples, when the trigger member 530 moves to a preset position, the trigger member 530 may block the signal receiving member 522 from receiving the detection signal.

[0133] For example, in some examples, when the trigger member 530 moves to a preset position, the end of the trigger member 530 can be covered on the periphery of the signal transmitter 521, so that the detection signal emitted by the signal transmitter 521 cannot be transmitted to the signal receiving member 522. In this way, the signal receiving member 522 cannot receive the detection signal emitted by the signal transmitter 521, thereby triggering a detection signal.

[0134] That is, in some examples, the detection signal may be a signal triggered when the signal receiving element 522 does not receive the detection signal.

[0135] In some examples, when the trigger member 530 moves to a preset position, the end of the trigger member 530 may be covered on the periphery of the signal receiving member 522 , so that the signal receiving member 522 cannot receive the detection signal emitted by the signal emitting member 521 .

[0136] In some examples, the trigger member 530 can block a preset proportion of the detection signal. For example, when the trigger member 530 protrudes from the fixing seat 510, the detection signal emitted by the signal transmitting member 521 can be transmitted to the signal receiving member 522 at a ratio of 100%. When the trigger member 530 moves to a preset position, the trigger member 530 can reduce the transmission ratio of the detection signal so that the signal receiving member 522 cannot receive the detection signal. In some examples, the trigger member 530 can reduce the transmission ratio of the detection signal to less than 5%.

[0137] It can be understood that in some examples of the embodiments of the present application, the ratio of the detection signal is only used as a specific example for illustration. In other examples, the detection signal may also be other ratios.

[0138] In some examples, the ratio of the detection signal may be determined based on the accuracy of the signal receiving element 522 .

[0139] In some examples, the signal transmitting element 521 and the signal receiving element 522 may be disposed opposite to each other.

[0140] In some examples, when the trigger member 530 moves to a preset position, the trigger member 530 may be located between the signal transmitting member 521 and the signal receiving member 522. The trigger member 530 blocks the detection signal emitted by the signal transmitting member 521, so that the signal receiving member 522 cannot receive the detection signal, triggering a detection signal.

[0141] In some examples, when the triggering member 530 protrudes from the fixing seat 510 , the detection signal emitted by the signal emitting member 521 may be blocked by the triggering member 530 , so that the signal receiving member 522 cannot receive the detection signal.

[0142] In some examples, when the trigger element 530 moves to a preset position, the detection signal emitted by the signal emitting element 521 can pass through the trigger element 530 and be received by the signal receiving element 522 , thereby triggering a detection signal.

[0143] That is to say, in some examples, the detection signal may be a signal triggered when the signal receiving component 522 receives the detection signal sent by the signal emitting component 521 .

[0144] In some examples, a perforation may be provided on the trigger member 530 .

[0145] In some examples, a signal transmission path is provided between the signal transmitting element 521 and the signal receiving element 522 .

[0146] In some examples, when the triggering member 530 protrudes from the fixing seat 510 , the perforation may be misaligned with the signal transmission path, so that the triggering member 530 blocks the signal transmission path. At this time, the signal receiving member 522 cannot receive the detection signal sent by the signal emitting member 521 .

[0147] In some examples, when the trigger element 530 moves to a preset position, the perforation may be aligned with the signal transmission path. The detection signal emitted by the signal emitting element 521 is transmitted to the signal receiving element 522 through the perforation and is received by the signal receiving element 522, thereby triggering a detection signal.

[0148] In some examples, a transparent portion may be provided on the trigger member 530 .

[0149] In some examples, when the triggering member 530 protrudes from the fixing seat 510 , the transparent portion may be misaligned with the signal transmission path, so that the triggering member 530 blocks the signal transmission path. At this time, the signal receiving member 522 cannot receive the detection signal sent by the signal emitting member 521 .

[0150] In some examples, when the trigger element 530 moves to a preset position, the transparent portion can be aligned with the signal transmission path. The detection signal emitted by the signal emitting element 521 passes through the lens portion and is received by the signal receiving element 522, thereby triggering a detection signal.

[0151] In some examples, the detection mechanism 520 may include a through-beam switch.

[0152] In some examples, the detection mechanism 520 may include a photoelectric switch.

[0153] In some examples, the signal emitting member 521 and the signal receiving member 522 may be arranged opposite to each other. When the triggering member 530 moves to a preset position, the triggering member 530 may be located between the signal emitting member 521 and the signal receiving member 522 .

[0154] In some examples of the embodiments of the present application, by setting a signal transmitter 521 and a signal receiver 522, the signal transmitter 521 sends a detection signal, and the signal receiver 522 is configured to receive the detection signal; when the trigger member 530 moves to a preset position, the signal transmission method between the signal transmitter 521 and the signal receiver 522 is changed to trigger the detection signal. Since the first magnetic adsorption member needs to be installed in place and fit to the fixing seat 510, the trigger member 530 can be pressed to the preset position; therefore, when the detection signal is triggered, it can be determined that the first magnetic adsorption member has been installed in place, which can ensure that the installation of the sterile cover is not easy to loosen.

[0155] Figure 6 This is an exploded view of the cooperation between the fixing seat, the second magnetic adsorption member and the trigger member in the surgical robot provided according to some embodiments of the present application. Figure 7 This is another exploded view of the cooperation between the fixing seat, the second magnetic adsorption component and the trigger component in the surgical robot provided according to some embodiments of the present application.

[0156] For some examples, refer to Figure 5-Figure 7 As shown, the fixing seat 510 may have a first end surface 512. The first end surface 512 may be an end surface on one side facing the vertical shaft 30 when the fixing seat 510 is installed on the vertical shaft 30.

[0157] In some examples, a first accommodating cavity 515 may be recessed and formed on the first end surface 512 .

[0158] In some examples, the second magnetic adsorbent 511 may be disposed in the first accommodating cavity 515 .

[0159] In some examples, the second magnetic adsorbent 511 may be fixed in the first accommodating cavity 515 by interference fit.

[0160] In some examples, in order to facilitate the fixed installation of the second magnetic adsorption component 511, the second magnetic adsorption component 511 can be fixed in the first accommodating cavity 515 by adhesive.

[0161] In some examples, the second magnetic adsorption member 511 can be snapped into the first accommodating cavity 515. For example, a buckle can be provided on the side wall of the first accommodating cavity 515, and the buckle is snapped to the end surface of the second magnetic member facing away from the fixing seat 510.

[0162] In some examples of the embodiments of the present application, a first accommodating cavity 515 is formed on the first end surface 512 of the fixing seat 510, and the second magnetic adsorption component 511 is arranged in the first accommodating cavity 515; this facilitates the installation and fixation of the second magnetic adsorption component 511.

[0163] In some examples, the fixing base 510 may have a second end surface 513. The second end surface 513 may be opposite to the first end surface 512. The second end surface 513 may be an end surface of the fixing base 510 facing the sterile cover.

[0164] In some examples, the first magnetic adsorbent may be adsorbed and attached to the second end surface 513 by the second magnetic adsorbent 511 .

[0165] For some examples, refer to Figure 5-Figure 7 As shown, the fixing seat 510 may have a first through hole 514. The first through hole 514 may penetrate the first end surface 512 and the second end surface 513.

[0166] In some examples, the trigger member 530 may be movably disposed in the first through hole 514 . At least a portion of the trigger member 530 may protrude toward the second end surface 513 .

[0167] In some examples, when the first magnetic adsorbent is attracted by the second magnetic adsorbent 511 and adheres to the second end surface 513, the first magnetic adsorbent presses the triggering member 530 so that the triggering member 530 moves away from the second end surface 513, thereby pressing the triggering member 530 to a preset position.

[0168] In some examples of the embodiments of the present application, a first through hole 514 penetrating the first end face 512 and the second end face 513 is provided on the fixing seat 510, and the trigger member 530 is movably inserted into the first through hole 514; in this way, when the first magnetic adsorption member is adsorbed and adhered to the second end face 513 by the second magnetic adsorption member 511, it is convenient for the first magnetic adsorption member to press the trigger member 530 and make the trigger member 530 move, thereby effectively generating a trigger signal to facilitate determining whether the first magnetic adsorption member is installed in place.

[0169] In some examples, in order to improve the stability of the sterile cover after installation, the second end surface 513 may be recessed to form a second accommodating cavity 516 .

[0170] In some examples, the second accommodating cavity 516 can be configured to accommodate the first magnetic adsorbent. That is, when the sterile cover is installed, the first magnetic adsorbent can be installed in the second accommodating cavity 516 and attracted to the second magnetic adsorbent 511.

[0171] In some examples, the thickness of the first magnetic adsorbent may match the depth of the second accommodating cavity 516. For example, the thickness of the first magnetic adsorbent may be the same as, similar to, or approximate to the depth of the second accommodating cavity 516.

[0172] In some examples, in order to prevent the first magnetic adsorbent from being pulled out of the second accommodating cavity 516 by the operation arm 40 when the operation arm 40 is moving, the sterile hood can be located between the first magnetic adsorbent and the bottom wall of the second accommodating cavity 516. That is, when the first magnetic adsorbent and the second magnetic adsorbent 511 are attracted, the sterile hood is pressed against the bottom wall of the second accommodating cavity 516 by the first magnetic adsorbent.

[0173] For some examples, refer to Figure 5 As shown, the first end of the trigger member 530 may protrude from the bottom wall of the second accommodating cavity 516 .

[0174] For some examples, refer to Figure 5 As shown, when the first magnetic adsorbent is installed in the second accommodating cavity 516 and is attracted to the second magnetic adsorbent 511, the first magnetic adsorbent is closely attached to the bottom wall of the second accommodating cavity 516 under the action of the suction force, and the first magnetic adsorbent can be moved along the Figure 5 The trigger member 530 is pressed in the direction indicated by the arrow x.

[0175] In some examples, the trigger member 530 moves along Figure 5 Move to the preset position in the direction indicated by the arrow x.

[0176] In some examples of the embodiments of the present application, a second accommodating cavity 516 is formed by a depression in the second end surface 513. When the sterile cover is installed, the first magnetic adsorbent is installed in the second accommodating cavity 516. In this way, the side wall of the second accommodating cavity 516 can limit the first magnetic adsorbent, so that the position of the first magnetic adsorbent on the fixing seat 510 is relatively fixed, thereby ensuring the effectiveness of the first magnetic adsorbent pressing on the trigger member 530 and improving the stability of the sterile cover installation.

[0177] In some examples, the first end of the trigger member 530 may protrude from the bottom wall of the second accommodating cavity 516 by a first distance.

[0178] In some examples, the first distance may be less than a depth of the second receiving cavity 516 .

[0179] In some examples, the first distance may be equal to the depth of the second receiving cavity 516 .

[0180] In some examples, the first distance may be greater than the depth of the second receiving cavity 516 .

[0181] In some examples, there is a second distance between the second end of the trigger member 530 and the preset position. Along the moving direction of the trigger member 530, the second end may be opposite to the first end.

[0182] In some examples, the first distance can be equal to the second distance. That is, when the first magnetic adsorbent is attached to the bottom wall of the second accommodating chamber 516, the pressing distance of the first magnetic adsorbent to the trigger member 530 is the first distance; at this time, the trigger member 530 moves to the preset position, the detection mechanism 520 is triggered, and a detection signal is sent; in this way, it can be ensured that the first magnetic adsorbent is installed in place (that is, the sterile cover is installed in place) before the detection signal is triggered, which can ensure that the sterile cover is installed in place, avoid false triggering, and improve the stability of the sterile cover installation.

[0183] For some examples, refer to Figure 5-Figure 7 As shown, the first accommodating cavity 515 may be a circular cavity or a cylindrical cavity.

[0184] In some examples, the second receiving cavity 516 may be a circular cavity or a cylindrical cavity.

[0185] In some examples, the first accommodating cavity 515 and the second accommodating cavity 516 can be coaxial. In this way, the facing area of ​​the first magnetic adsorbent and the second magnetic adsorbent 511 can be maximized, the suction force of the first magnetic adsorbent and the second magnetic adsorbent 511 can be maximized, and the stability of the sterile cover installation can be improved.

[0186] In some examples, the first through hole 514 may be disposed at the axis of the fixing base 510 . The axis of the fixing base 510 may be the axis of any one of the first accommodating cavity 515 or the second accommodating cavity 516 .

[0187] That is, the first through hole 514 may be coaxial with the first accommodating cavity 515 and the second accommodating cavity 516 .

[0188] In some examples, the second magnetic adsorption member 511 may be annular, and the second magnetic adsorption member 511 may be sleeved on the outer periphery of the trigger member 530. Figure 6 and Figure 7 As shown, the second magnetic adsorption component 511 may have a central shaft hole 5111 , and the trigger component 530 may be movably disposed in the central shaft hole 5111 .

[0189] In some examples of the embodiments of the present application, the first through hole 514 is arranged at the axis of the fixing seat 510, so that the first through hole 514 is coaxial with the first accommodating cavity 515 and the second accommodating cavity 516. In this way, when the first magnetic adsorbent is installed in the second accommodating cavity 516, the axis of the first magnetic adsorbent can apply a pressing force to the triggering member 530 along the axial direction of the triggering member 530; this can ensure that the triggering member 530 is evenly stressed and the smooth movement of the triggering member 530 is ensured.

[0190] For some examples, refer to Figure 5 and Figure 7 As shown, the first accommodating cavity 515 may include a first sub-cavity 5151 . The second magnetic adsorption member 511 may be disposed in the first sub-cavity 5151 .

[0191] In some examples, the first accommodating cavity 515 may include a second sub-cavity 5152 . The trigger member 530 may be disposed in the second sub-cavity 5152 .

[0192] In some examples, the first sub-cavity 5151 may surround the outer circumference of the second sub-cavity 5152 .

[0193] For some examples, refer to Figure 5 and Figure 7 As shown, an isolation piece 5153 may be provided between the first sub-cavity 5151 and the second sub-cavity 5152 .

[0194] In some examples, the first sub-cavity 5151 may be located outside the isolation member 5153 , and the second sub-cavity 5152 may be located inside the isolation member 5153 .

[0195] In some examples, the trigger member 530 can move relative to the fixing seat 510 along the axial direction of the second sub-cavity 5152 .

[0196] In some examples of the embodiments of the present application, the first sub-cavity 5151 and the second sub-cavity 5152 of the first accommodating cavity 515 are isolated by providing an isolation member 5153; in this way, the movement of the trigger member 530 is independent of the second magnetic adsorption member 511, which facilitates the inspection and replacement of the second magnetic member and the trigger member 530, and can save the inspection and replacement costs; in addition, the smoothness of the movement of the trigger member 530 can be improved.

[0197] For some examples, refer to Figure 5 As shown, the inner diameter of the second sub-cavity 5152 may be greater than the diameter of the first through hole 514 .

[0198] In some examples, the peripheral wall of the trigger member 530 may be provided with a protrusion 531. When the trigger member 530 protrudes from the bottom wall of the second accommodating cavity 516, the protrusion 531 may be configured to abut against the bottom wall of the second sub-cavity 5152 to limit the movement of the trigger member 530.

[0199] That is to say, when the first end of the trigger member 530 protrudes a first distance from the bottom wall of the second accommodating cavity 516, the protrusion 531 can abut against the bottom wall of the second sub-cavity 5152, thereby restricting the trigger member 530 within the second sub-cavity 5152 and preventing the trigger member 530 from falling off from the second sub-cavity 5152.

[0200] In some examples, the protrusion 531 may be a flange surrounding a peripheral wall of the trigger member 530 .

[0201] In some examples, before surgery, a sterile cover can be installed on the column 20 and the vertical shaft 30. Taking the vertical shaft 30 as an example, the first magnetic adsorption member can be adsorbed on the bottom wall of the second accommodating cavity 516. In this way, it can be ensured that the first magnetic adsorption member is installed in place, ensuring the stability of the sterile cover installation.

[0202] In some examples, after a surgery is completed, the sterile cover needs to be removed, or the sterile cover needs to be replaced before the next surgery.

[0203] It can be understood that in order to ensure that the next time the sterile cover is replaced, it is possible to accurately determine whether the sterile cover is installed in place, it is necessary to press the first magnetic adsorption component on the sterile cover against the trigger component 530 during the next installation, so that the trigger component 530 moves to a preset position to trigger a detection signal; therefore, when removing the sterile cover, it is necessary to ensure that the trigger component 530 protrudes from the bottom wall of the second accommodating cavity 516, that is, it is necessary to ensure that the trigger component 530 is reset.

[0204] In some examples, the first magnetic adsorption component may be a permanent magnet, and the trigger component 530 may be a ferromagnetic material component, for example, the trigger component 530 may be an iron component, a nickel alloy component, or an iron-nickel alloy component, etc.; in this way, the first magnetic adsorption component may attract the trigger component 530.

[0205] In some examples, when the sterile cover is removed, the first magnetic adsorption member can drive the trigger member 530 to move relative to the fixing seat 510 , so that the first end of the trigger member 530 protrudes from the bottom wall of the second accommodating cavity 516 .

[0206] In some examples, in order to prevent the second magnetic adsorption component 511 from attracting the trigger component 530 , the second magnetic adsorption component 511 may be made of a ferromagnetic material.

[0207] In some examples, the sterile cover installation detection device 50 may include a reset member.

[0208] In some examples, the reset member may be disposed in the second sub-cavity 5152 .

[0209] In some examples, one end of the restoring member may be connected to the protrusion 531. The restoring member may be configured to provide a restoring force to the trigger member 530 toward the second accommodating cavity 516.

[0210] In some examples, the restoring member may be an elastic member.

[0211] In some examples, the resetting member may include an elastic sponge column.

[0212] In some examples, the return member may include a spring.

[0213] In some examples, the restoring force provided by the restoring member to the trigger member 530 may be smaller than the attraction force provided by the second magnetic adsorption member 511 to the first magnetic adsorption member.

[0214] In some examples, the detection mechanism 520 can be disposed on the fixing seat 510. For example, the signal transmitter 521 can be attached to one side of the isolation member 5153 along the radial direction, and the signal receiver 522 can be disposed opposite to the signal transmitter 521 and attached to the other side of the isolation member 5153 along the radial direction.

[0215] In some examples, in order to facilitate power supply to the detection mechanism 520 and output of the detection signal of the detection mechanism 520 to the controller of the surgical robot, the detection mechanism 520 may be connected to the controller of the surgical robot through a signal lead, and the signal lead may be connected to the controller of the surgical robot. For example, the signal lead may be connected to the main control board of the surgical robot.

[0216] In some examples, for easy routing, refer to Figure 5-Figure 7 As shown, the sterile cover installation detection device 50 may include a circuit board 540. The circuit board 540 may be arranged on a side of the fixing seat 510 facing away from the first magnetic adsorption component.

[0217] In some examples, the circuit board 540 may be disposed on a side of the second magnetic adsorption component 511 facing away from the fixing base 510 .

[0218] In some examples, the detection mechanism 520 may be disposed on a circuit board 540 .

[0219] In some examples, the detection mechanism 520 may be disposed on a side of the circuit board 540 facing away from the fixing base 510 .

[0220] In some examples, circuit board 540 may include an integrated circuit board 540 .

[0221] In some examples, the circuit board 540 may include a printed circuit board 540 (Printed Circuit Board, PCB for short).

[0222] In some examples, a second through hole 541 may be provided on the circuit board 540 , and the trigger member 530 may be inserted into the second through hole 541 .

[0223] In some examples, the signal emitting element 521 may be disposed on one side of the second through hole 541 along the radial direction. The signal receiving element 522 may be disposed on the other side of the second through hole 541 along the radial direction opposite to the signal emitting element 521 .

[0224] In some examples, to facilitate wiring, a communication interface 542 may be provided on the circuit board 540. The controller of the surgical robot may be connected to the communication interface 542 via a signal line.

[0225] In some examples, the communication interface 542 may include an RS232 standard serial port.

[0226] In some examples, the communication interface 542 may include an RS485 interface.

[0227] In some examples, the communication interface 542 may include a Universal Serial Bus (USB).

[0228] It can be understood that in some examples of the embodiments of the present application, the specific types of the communication interface 542 are only shown as some specific examples, and do not limit the communication structure. In some examples, other types of communication interfaces 542 may also be used.

[0229] In some examples of the embodiments of the present application, a circuit board 540 is provided and the detection mechanism 520 is provided on the circuit board 540, so that the arrangement of the detection mechanism 520 is facilitated; in addition, a communication interface 542 is provided on the circuit board 540, so that the detection mechanism 520 can report the detection signal to the controller of the surgical robot, which facilitates wiring.

[0230] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A sterile cover installation detection device, used for detecting the installation of a sterile cover, wherein the sterile cover is provided with a first magnetic adsorption member, characterized in that: The detection device comprises: A fixing seat, wherein a second magnetic adsorption member is disposed on the fixing seat, wherein at least one of the first magnetic adsorption member and the second magnetic adsorption member is a permanent magnet, and the other is a ferromagnetic material member or a permanent magnet; the second magnetic adsorption member is configured to be attracted to the first magnetic adsorption member to fix the sterile cover; A detection mechanism, arranged on the fixing seat; A triggering member is movably disposed on the fixing seat, and at least a portion of the triggering member protrudes from the fixing seat; when the first magnetic adsorption member and the second magnetic adsorption member are attracted and attached to the fixing seat, the first magnetic adsorption member is pressed against the triggering member, so that the triggering member moves toward the fixing seat to a preset position; The trigger member is configured to trigger a detection signal of the detection mechanism when in the preset position, and the detection signal is configured to indicate that the first magnetic adsorption member is installed in place.

2. The sterile cover installation detection device according to claim 1, characterized in that: The detection mechanism includes: A signal transmitting element configured to emit a detection signal; A signal receiving element, configured to receive the detection signal emitted by the signal emitting element; When the trigger element moves to the preset position, the trigger element is configured to change the signal transmission ratio between the signal transmitting element and the signal receiving element to trigger the detection signal.

3. The sterile cover installation detection device according to claim 2, characterized in that: The detection mechanism includes any one of a beam switch and a photoelectric switch; The signal transmitting component and the signal receiving component are arranged opposite to each other. When the trigger component moves to the preset position, the trigger component is located between the signal transmitting component and the signal receiving component.

4. The sterile cover installation detection device according to claim 1, characterized in that: The detection mechanism comprises a travel switch.

5. The sterile cover installation detection device according to any one of claims 1 to 4, characterized in that: The fixing seat has a first end face, a second end face and a first through hole; the first end face and the second end face are two opposite end faces of the fixing seat, and the first through hole penetrates the first end face and the second end face; The first end surface is concave to form a first accommodating cavity, and the second magnetic adsorption component is arranged in the first accommodating cavity; The trigger member is movably disposed in the first through hole, and at least a portion of the trigger member protrudes toward the second end surface.

6. The sterile cover installation detection device according to claim 5, characterized in that: The second end surface is recessed to form a second accommodating cavity, and the second accommodating cavity is configured to accommodate the first magnetic adsorption component; The first end of the trigger member protrudes from the bottom wall of the second accommodating cavity.

7. The sterile cover installation detection device according to claim 6, characterized in that: The first end protrudes from the bottom wall of the second accommodating cavity by a first distance; the second end of the trigger member is at a second distance from the preset position; The first distance is equal to the second distance.

8. The sterile cover installation detection device according to claim 5, characterized in that: The first through hole is located at the axis of the fixing seat, the second magnetic adsorption component is annular, and the second magnetic adsorption component is sleeved on the outer periphery of the trigger component.

9. The sterile cover installation detection device according to claim 8, characterized in that: The first accommodating cavity includes a first sub-cavity and a second sub-cavity, the first sub-cavity surrounds the outer circumference of the second sub-cavity, and an isolation piece is provided between the first sub-cavity and the second sub-cavity; The second magnetic adsorption component is located in the first sub-cavity, the trigger component is located in the second sub-cavity, and the trigger component moves relative to the fixing seat along the axial direction of the second sub-cavity.

10. The sterile cover installation detection device according to claim 9, characterized in that: The inner diameter of the second sub-cavity is greater than the diameter of the first through hole; A protrusion is provided on the peripheral wall of the trigger member. When the trigger member protrudes from the fixing seat, the protrusion is configured to abut against the bottom wall of the second sub-cavity to restrict the trigger member within the second sub-cavity.

11. The sterile cover installation detection device according to claim 10, characterized in that: It also includes a reset member, which is disposed in the second sub-cavity, and one end of the reset member is connected to the protruding portion; the reset member is configured to provide a reset force to the trigger member toward the second end surface.

12. The sterile cover installation detection device according to any one of claims 1-4 and 6-11, characterized in that: It also includes a circuit board, which is arranged on a side of the fixing base facing away from the first magnetic adsorption component; the detection mechanism is arranged on a side of the circuit board facing away from the fixing base; The circuit board is provided with a second through hole, and the trigger member is inserted into the second through hole.

13. The sterile cover installation detection device according to claim 12, characterized in that: A communication interface is provided on the circuit board, and the communication interface is configured to communicate with a controller of the surgical robot so as to send a trigger signal of the detection mechanism to the controller.

14. A surgical robot, characterized in that: include: Base; A column, arranged on the base, on which the sterile cover installation detection device according to any one of claims 1 to 13 is provided; A vertical shaft, suspended on the column, on which the sterile cover installation detection device according to any one of claims 1 to 13 is provided; The operating arm is connected to the vertical shaft, and the operating arm is configured to connect to a terminal instrument.

15. The surgical robot according to claim 14, characterized in that: The sterile cover installation detection device is provided on opposite sides of the vertical axis.

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