Tail end instrument, tail end power assembly and surgical robot system

Abstract

The utility model provides a tail end instrument, a tail end power assembly and a surgical robot system.The tail end instrument is used for being matched with a surgical robot for use and comprises an instrument box, a shaft assembly extending from the instrument box and an end effector connected to the far end of the shaft assembly, and the instrument box comprises an instrument connecting port; the tail end power assembly comprises a power box, the power box comprises a power output port, when the power box is connected with an instrument box of a tail end instrument, the power output port is connected with an instrument connecting port of the instrument box, and the power box comprises the first magnetic part or the electromagnetic coil; when the instrument box is provided with the first magnetic piece, the power box is provided with an electromagnetic coil. Or when the electromagnetic coil is arranged on the instrument box, a first magnetic piece is arranged on the power box; therefore, a magnetic field is generated through the electromagnetic coil, and suction force is generated between the electromagnetic coil and the first magnetic part, so that the power box and the instrument box are connected and locked.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and in particular, relates to an end instrument, an end power assembly and a surgical robot system. Background Art

[0002] In the surgical robot system, in order to meet the needs of different surgical operations, many different types of instruments are used. As an independent component, the instrument is detachably installed on the surgical robot system so that it can be replaced during the operation. Since the connection between the installed instrument and the surgical robot system is not tight enough, in order to reliably and accurately drive the instrument to move, a pressure device is usually added to ensure reliable docking and transmission of the driving instrument after installation.

[0003] At present, the commonly used connection mechanisms are generally mechanical bayonet locking types, such as using springs to provide locking force, and the guide rail is designed to push the power box forward by designing a cam connecting rod when it stretches forward, and the compression and docking of the instrument and the power mechanism is achieved by compressing the spring, and the loading and unloading of the instrument can be achieved by pressing at a specific position; and the compression and docking is achieved by using a motor to drive the spiral docking groove to rotate, specifically, a motor drive device in the center of the power box drives the rotating docking mechanism in the middle of the front of the sterile tray, and the rotating docking mechanism on the back of the sterile tray can dock with the center of the instrument, and there is a spiral groove similar to a thread on the edge side of the docking mechanism. When the instrument is installed, the motor drive device in the power box rotates and drives to lock the instrument through the clamping of the spiral groove, and the motor drive device moves in the opposite direction to release the instrument. However, the connection mechanisms of the above instruments all adopt mechanical drive methods, which have the disadvantages of complex structure, occupied space size, some of which require manual participation, and when the machine is stuck, it is not easy to release the instrument. Utility Model Content

[0004] In view of this, the present application provides a terminal instrument, a terminal power assembly and a surgical robot system to solve the technical problems of the current terminal instrument, terminal power assembly and surgical robot system, such as complex structure, space occupation and difficulty in release.

[0005] In the first aspect, the present application provides an end instrument for use in conjunction with a surgical robot, the end instrument comprising an instrument box, an axis assembly extending from the instrument box, and an end effector connected to the distal end of the connector axis assembly, the instrument box comprising an instrument connection port, and a first magnetic member or electromagnetic coil provided on the instrument box.

[0006] In some embodiments, when the instrument box is provided with an electromagnetic coil, the electromagnetic coil is a group of winding coils and is wound around the circumferential surface of the shell of the instrument box, wherein the axial direction of the winding coil is parallel to the axial direction of the instrument connection port;

[0007] Or the electromagnetic coil includes a plurality of groups of winding coils, and the plurality of groups of winding coils are distributed in the instrument box, wherein the axial direction of each winding coil is parallel to the axial direction of the instrument connection port.

[0008] In some embodiments, when a first magnetic component is provided on the instrument box, the first magnetic component includes a plurality of magnets, the plurality of magnets are distributed in the instrument box, and the polarity direction of each magnet is parallel to the axial direction of the instrument connection port.

[0009] In a second aspect, the present application provides a terminal power assembly, including a power box, the power box including a power output port, when the power box is connected to the instrument box of the terminal instrument as described in the first aspect, the power output port is connected to the instrument connection port of the instrument box, the power box including a first magnetic member or an electromagnetic coil; wherein,

[0010] When the first magnetic member is provided on the instrument box, the electromagnetic coil is provided on the power box;

[0011] Or, when the electromagnetic coil is provided on the instrument box, the first magnetic member is provided on the power box;

[0012] Thus, a magnetic field is generated by the electromagnetic coil, and suction is generated between the electromagnetic coil and the first magnetic member, so that the power box and the instrument box are connected and locked.

[0013] In some embodiments, when the power box is provided with an electromagnetic coil, the electromagnetic coil is a group of winding coils and is wound around the circumferential surface of the shell of the power box, wherein the axial direction of the winding coil is parallel to the axial direction of the power output port;

[0014] Or the electromagnetic coil includes multiple groups of winding coils, and the multiple groups of winding coils are distributed in the power box, wherein the axial direction of each winding coil is parallel to the axial direction of the power output port.

[0015] In some embodiments, when the first magnetic component is provided on the power box, the first magnetic component includes a plurality of magnets, and the plurality of magnets are distributed in the power output port of the power box, and the polarity direction of each magnet is parallel to the axial direction of the power output port.

[0016] In some embodiments, when the first magnetic component is provided on the instrument box and the electromagnetic coil is provided on the power box, the power box also includes a second magnetic component, which is connected to the power output port. The second magnetic component is used to enable the power output port to have a force to move toward the instrument box when the electromagnetic coil generates a magnetic field.

[0017] In a third aspect, the present application provides a surgical robot system, comprising a robotic arm, the end instrument described in the first aspect, and the end power assembly described in the second aspect, wherein the end power assembly is arranged at the end of the robotic arm, and the end instrument is detachably connected to the end power assembly through an adapter.

[0018] In some embodiments, the surgical robot system also includes a detection module and a control module, and the detection module and the control module are communicatively connected. The detection module is used to detect the electrical signal in the electromagnetic coil in real time, and the control module controls the current conduction or disconnection of the electromagnetic coil according to the electrical signal and / or the received control signal, wherein the control signal includes a locking signal and an unlocking signal.

[0019] In some embodiments, the control module includes a control circuit;

[0020] The control module obtains the electrical signal in the electromagnetic coil through the detection module to determine the change of the magnetic field strength in the electromagnetic coil, thereby judging whether the first magnetic member and the electromagnetic coil are close to each other;

[0021] When the control module determines that the first magnetic member and the electromagnetic coil are close to each other or receives a locking signal, the control circuit is controlled to energize the electromagnetic coil;

[0022] When the control module receives an unlocking signal, the control circuit is controlled to cut off power to the electromagnetic coil.

[0023] In the prior art, when the end instrument is just installed on the power box, each docking surface is in a loose fit state, and there is a gap during the torque transmission process. The present application provides an end instrument, an end power assembly, and a surgical robot system, which generates magnetism by setting an electromagnetic coil, and then generates suction or repulsion with a first magnetic part, thereby compressing the gap between the power box and the instrument box. When the magnetism of the electromagnetic coil is eliminated, the suction disappears, the sliding shaft pops open, and the end instrument is in a loose state, and can be easily removed from the power box. The electromagnetic coil and the first magnetic part have a simple structure and do not take up extra space, which effectively reduces the size and weight of the power box. The locking and release of the instrument are achieved by controlling the on and off of the current. The operation is simple and there is no risk of mechanical jamming. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 is a schematic diagram of the structure of the end device provided in the first embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the structure of the end device provided in the second embodiment of the present application;

[0027] Figure 3 is a schematic structural diagram of a terminal power assembly provided in a third embodiment of the present application;

[0028] Figure 4 is a schematic structural diagram of a terminal power assembly provided in a fourth embodiment of the present application;

[0029] Figure 5 is a schematic structural diagram of a surgical robot system provided in a fifth embodiment of the present application;

[0030] Figure 6 It is a schematic diagram of the structure of the surgical robot system provided in the sixth embodiment of the present application.

[0031] Among them, the figure numbers are:

[0032] 10. End instrument; 11. Instrument box; 110. Instrument connection port; 12. Shaft assembly;

[0033] 20. terminal power assembly; 21. power box; 210. power output port; 211. sliding shaft; 212. elastic member;

[0034] 30. Adapter;

[0035] 100, first magnetic component; 200, electromagnetic coil; 300, second magnetic component. DETAILED DESCRIPTION

[0036] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0037] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0040] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0041] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means two or more.

[0042] First, as Figure 1 and Figure 2 As shown, the present application provides an end instrument 10 for a surgical robot, the end instrument 10 includes an instrument box 11, an axis assembly 12 and an end effector (not shown in the figure);

[0043] The instrument box 11 includes an instrument connection port 110 and a first magnetic member 100 or an electromagnetic coil 200 disposed on the instrument box 11;

[0044] The shaft assembly 12 is connected to the instrument box 11, and the distal end of the shaft assembly 12 is extended toward an end away from the instrument connection port 110;

[0045] The end effector is disposed at the distal end of the shaft assembly 12 , that is, the end of the shaft assembly 12 away from the instrument box 11 .

[0046] In order to meet the needs of different surgical operations, various types of surgical instruments are required. Generally, surgical instruments are used as independent components that can be installed on or removed from the robot system for replacement during surgery. The terminal instrument 10 provided in the present application is provided with a first magnetic part 100 on the instrument box 11, and an electromagnetic coil 200 on the terminal power assembly 20, and suction is generated by the first magnetic part 100 and the electromagnetic coil 200 to lock the connection between the terminal instrument 10 and the terminal power assembly 20; or an electromagnetic coil 200 is provided on the instrument box 11, and a first magnetic part 100 is provided on the terminal power assembly 20, and the first magnetic part 100 and the electromagnetic coil 200 generate suction to lock the connection between the terminal instrument 10 and the terminal power assembly 20.

[0047] In applications, generally speaking, the end effectors in surgical robots include but are not limited to the following types of instruments:

[0048] Surgical knives and cutters: used for precise cutting and peeling of tissues. Their designs may include micro blades, high-frequency vibration cutters, etc. to meet different surgical needs.

[0049] Staplers and staplers: used to quickly and accurately suture wounds or connect blood vessels, intestines and other tissues; grabbers and clamps: used to stabilize the surgical site, clamp or move tissues, organs or surgical instruments; sensors and imaging devices: some end effectors integrate sensors and imaging devices, such as miniature cameras, force sensors, etc., to provide real-time images and feedback information of the surgical site, helping doctors better understand the progress of the operation; syringes and perfusionists: used to inject drugs, saline or other fluids during surgery, or perform local perfusion therapy.

[0050] It should be noted that different surgical robots and types of surgeries may require different types of end effectors. Therefore, when selecting and using end effectors, they need to be matched and optimized according to the specific surgical requirements and the characteristics of the robot system. At the same time, with the continuous advancement of technology, the types and functions of end effectors are also constantly expanding and improving, providing more possibilities for the development of the field of surgical robots.

[0051] In some embodiments, Figure 1 and Figure 2As shown, when the electromagnetic coil 200 is provided on the instrument box 11, the electromagnetic coil 200 is a group of coils, and is wound on the circumferential surface of the shell of the instrument box 11, wherein the axial direction of the coils is parallel to the axial direction of the instrument connection port 110. The coils are arranged on the circumferential surface of the shell of the instrument box 11, which is convenient for installation, does not occupy too much space, and effectively improves the space utilization rate; in addition, the axial direction of the coils is parallel to the axial direction of the instrument connection port 110, so that the generated magnetic field can be filled at the instrument connection port 110, thereby generating suction, so that the instrument connection port 110 and the terminal power assembly 20 are locked and connected.

[0052] In other embodiments, the electromagnetic coil 200 includes multiple groups of coils, which are distributed in the instrument box 11, wherein the axial direction of each coil is parallel to the axial direction of the instrument connection port 110. After being energized, the multiple groups of coils can generate a stronger magnetic field strength, thereby generating a greater suction force to lock the end instrument 10 and the end power assembly 20.

[0053] In some embodiments, Figure 1 and Figure 2 As shown, when the instrument box 11 is provided with the first magnetic member 100, the first magnetic member 100 includes a plurality of magnets, and the plurality of magnets are distributed in the instrument box 11, and the polarity direction of each magnet is parallel to the axial direction of the instrument connection port 110. The presence of a plurality of magnets is conducive to enhancing the suction force between the instrument box 11 and the terminal connection assembly, ensuring the tightness of the connection between the two; the polarity direction of the magnet is parallel to the axial direction of the instrument connection port 110, because the instrument connection port 110 is a port connected to the terminal power assembly 20, so that the suction force of the magnet can be utilized to the greatest extent, so that the locking fit between the two is tighter. In application, a plurality of magnets are evenly distributed in the instrument box 11, so that it can be ensured that the suction force received by each part of the instrument box 11 is evenly distributed, thereby effectively reducing the gap between the instrument connection port 110 and the terminal power assembly 20.

[0054] Second, as Figure 3 and Figure 4As shown, the present application provides a terminal power assembly 20, including a power box 21, the power box 21 includes a power output port 210, when the power box 21 is connected to the instrument box 11 of the terminal instrument 10 provided in the first aspect, the power output port 210 is connected to the instrument connection port 110 of the instrument box 11, the power box 21 includes a first magnetic part 100 or an electromagnetic coil 200; wherein, when the first magnetic part 100 is provided on the instrument box 11, the electromagnetic coil 200 is provided on the power box 21, so that a magnetic field is generated by the electromagnetic coil 200, and suction is generated between the electromagnetic coil 200 and the first magnetic part 100, so that the power box 21 and the instrument box 11 are connected and locked. In application, by energizing the electromagnetic coil 200, a magnetic field is generated in the axial direction of the power box 21 according to the electromagnetic induction effect, and suction is generated between the first magnetic part 100 on the instrument box 11 and the magnetic field, so that the power box 21 and the instrument box 11 are connected and locked. When disassembly is required, the power is turned off to eliminate the magnetic field and the suction with the first magnetic part 100, thereby unlocking the connection between the power box 21 and the instrument box 11.

[0055] In some embodiments, when the electromagnetic coil 200 is provided on the instrument box 11, the first magnetic member 100 is provided on the power box 21, so that a magnetic field is generated by the electromagnetic coil 200, and suction is generated between the electromagnetic coil 200 and the first magnetic member 100, so that the power box 21 and the instrument box 11 are connected and locked. In application, by energizing the electromagnetic coil 200, a magnetic field is generated in the axial direction of the instrument box 11 according to the electromagnetic induction effect, and suction is generated between the first magnetic member 100 on the power box 21 and the magnetic field, so that the power box 21 and the instrument box 11 are connected and locked. When disassembly is required, the power is turned off to make the magnetic field disappear and the suction with the first magnetic member 100 disappear, so that the connection between the power box 21 and the instrument box 11 can be unlocked.

[0056] In some embodiments, Figure 3 and Figure 4 As shown, when the electromagnetic coil 200 is provided on the power box 21, the electromagnetic coil 200 is a group of winding coils, and is wound on the circumferential surface of the shell of the power box 21, wherein the axial direction of the winding coil is parallel to the axial direction of the power output port 210. In application, the power box 21 usually needs to be connected to an external power supply device, and the electromagnetic coil 200 also needs to be connected to the power supply, so it is more convenient to set the electromagnetic coil 200 on the power box 21, especially on the circumferential surface of the shell of the power box 21, which has a compact structure and reasonable design, and is conducive to saving space and improving the appearance.

[0057] In other embodiments, the electromagnetic coil 200 includes multiple groups of winding coils, which are distributed in the power box 21, wherein the axial direction of each winding coil is parallel to the axial direction of the power output port 210. Multiple groups of winding coils can effectively enhance the strength of the magnetic field, thereby enhancing the suction force between the first magnetic member 100, so as to further enhance the tightness of the connection between the power box 21 and the instrument box 11.

[0058] In some embodiments, Figure 3 and Figure 4 As shown, when the power box 21 is provided with the first magnetic member 100, the first magnetic member 100 includes a plurality of magnets, and the plurality of magnets are distributed in the power output port 210 of the power box 21, and the polarity direction of each magnet is parallel to the axial direction of the power output port 210. In application, the presence of a plurality of magnets is conducive to enhancing the suction force between the instrument box 11 and the power box 21, and ensuring the tightness of the connection between the two; the polarity direction of the magnet is parallel to the axial direction of the power output port 210, because the power output port 210 is a port connected to the instrument box 11, so that the suction force of the magnet can be maximized, so that the locking fit between the two is tighter.

[0059] In applications, such as Figure 3 and Figure 4 As shown, the power output port 210 is docked with the instrument connection port 110 of the instrument box 11, and the power output port 210 can slide back and forth within a certain range along the axis direction of its own rotation. An elastic member 212 is also provided between the sliding shaft 211 and the power box 21. The elastic member 212 includes but is not limited to a spring. The function of the spring is to keep the power output port 210 in contact with the instrument connection port 110 and to have a reset function so as to achieve docking and transmission of the two ports. .

[0060] In some embodiments, Figure 3 and Figure 4 As shown, when a first magnetic component 100 is provided on the instrument box 11 and an electromagnetic coil 200 is provided on the power box 21, the power box 21 also includes a second magnetic component 300, and the second magnetic component 300 is connected to the power output port 210. The second magnetic component 300 is used to enable the power output port 210 to have a force to move toward the instrument box 11 when the electromagnetic coil 200 generates a magnetic field.

[0061] In application, the second magnetic member 300 is arranged on the sliding shaft 211, and generates a repulsive force with the electromagnetic coil 200 arranged on the housing of the power box 21, so that the power output port 210 has a force to move toward the instrument box 11, so that the power output port 210 and the instrument connection port 110 are kept in contact, and the first magnetic member 100 has a force to move the instrument box 11 toward the power box, so that the two cooperate to further lock the power box 21 and the instrument box 11. When disassembly is required, the magnetic field of the electromagnetic coil 200 disappears by powering off, and the suction force generated between the electromagnetic coil 200 and the first magnetic member 100 and the repulsive force generated between the electromagnetic coil 200 and the second magnetic member 300 disappear, which is very convenient for disassembly. By installing the second magnetic component 300 on each sliding shaft 211, each sliding shaft 211 can be directly driven to be clamped and released. The advantage is that independent clamping of a single connection can be achieved. When the gaps between the connections are inconsistent, this arrangement can ensure that the pressure on each connection can be stably clamped. At the same time, different first magnetic components 100 with different magnetic forces can be set on different sliding shafts 211 according to the size of the transmission torque to generate different clamping forces.

[0062] In application, the first magnetic member 100 and the second magnetic member 300 include but are not limited to permanent magnets, which have the characteristics of maintaining their magnetism for a long time, are not easy to lose magnetism, and are not easy to be magnetized. They have simple structures, low prices, good magnetic field stability, and are widely used.

[0063] Thirdly, Figure 5 and Figure 6 As shown, the present application provides a surgical robot system, including a robotic arm (not shown in the figure), the end instrument 10 described in the first aspect, and the end power assembly 20 described in the second aspect, the end power assembly 20 is arranged at the end of the robotic arm, and the end instrument 10 is detachably connected to the end power assembly 20 through an adapter 30. In application, the end power assembly 20 transmits torque to the end instrument 10, and moves under the drive of the robotic arm to complete various surgical operations.

[0064] In the prior art, when the instrument box 11 of the end instrument 10 is installed on the power box 21, a clamping structure is used to fix the end instrument 10 and the power box 21. The surgical robot system provided by the present application is to connect and fix the power box 21 with the instrument box 11 by setting an electromagnetic coil 200 on the power box 21 to generate magnetism, and then generate suction between the electromagnetic coil 200 and the first magnetic member 100 set in the instrument box 11 (or the first magnetic member 100 set on the power box 21 and the electromagnetic coil 200 set on the top of the instrument box 11). When the magnetism of the electromagnetic coil 200 is eliminated, the suction disappears, and the end instrument 10 can be easily removed from the power box 21. The electromagnetic coil 200 and the first magnetic member 100 have a simple structure and do not occupy additional space, which effectively reduces the size and weight of the power box 21. The locking and release of the instrument box 11 and the power box 21 are achieved by controlling the on and off of the current. The operation is simple and there is no risk of mechanical jamming.

[0065] In some embodiments, the surgical robot system further includes a detection module and a control module, and the detection module and the control module are communicatively connected. The detection module is used to detect the electrical signal in the electromagnetic coil 200 in real time, and the control module controls the current conduction or disconnection of the electromagnetic coil 200 according to the electrical signal and / or the received control signal, wherein the control signal includes a locking signal and an unlocking signal. In application, the installation state between the end instrument 10 and the power box 21 is determined by detecting the electrical signal (magnitude and direction of the electromagnetic field) induced in the electromagnetic coil 200 through the detection module, and the current conduction and disconnection of the electromagnetic coil 200 in the power box 21 is controlled by the control module to generate and eliminate the suction force on the first magnetic part 100 and / or the second magnetic part 300, so that the locking and release of the surgical instrument can be quickly achieved. It should be noted that in the embodiment of the present application, the principle of determining the state of the device based on the electrical signal is: due to the existence of the electromagnetic coil 200, when the first magnetic component 100 and / or the second magnetic component 300 approaches or moves away from the electromagnetic coil 200, a change in magnetic flux will occur, causing an induced current to be generated in the electromagnetic coil 200, and based on the direction and magnitude of the induced current, it can be determined whether they are approaching or moving away from each other.

[0066] In some embodiments, the control module includes a control circuit;

[0067] The control module obtains the electrical signal in the electromagnetic coil 200 through the detection module to determine the change in the magnetic field strength in the electromagnetic coil 200, thereby judging whether the first magnetic member 100 and the electromagnetic coil 200 are close to each other;

[0068] When the control module determines that the first magnetic member 100 and the electromagnetic coil 200 are close to each other or receive a locking signal, the control circuit controls the electromagnetic coil 200 to energize;

[0069] When the control module receives the unlocking signal, the control circuit de-energizes the electromagnetic coil 200 .

[0070] In application, the instrument box 11 is not installed on the power box 21, and the detection module detects the magnetic field of the electromagnetic coil 200 in real time. At this time, a relatively weak magnetic field strength is detected; when the instrument box is close to the power box 21 and installed, the magnetic field strength in the electromagnetic coil 200 will change, that is, the magnetic field strength will gradually increase, and an induced current will be generated in the electromagnetic coil 200 during this process. The induced current can be detected by the detection module, thereby recognizing that the instrument box and the power box 21 are approaching each other; at this time, the control module energizes the electromagnetic coil 200 by controlling the control circuit, that is, the control module switches from the detection state to the control state. It switches to a state of generating a strong magnetic field, generating suction on the permanent magnet on the end device 10, thereby locking the end device 10; when the end device 10 needs to be disassembled, by pressing the trigger button, that is, when the control module receives the unlocking signal, the control circuit cuts off the current in the electromagnetic coil 200, and the control module switches to a detection state, the suction of the coil on the permanent magnet of the end device 10 disappears, and the end device 10 is in a released state; after the end device 10 is removed from the power box 21, the detection module detects the change in the magnetic field strength to identify that the end device 10 has been removed, and the process of waiting for the next docking of the end device 10 is restored.

[0071] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An end instrument for use with a surgical robot, characterized in that: The end instrument (10) comprises an instrument box (11), an axis assembly (12) extending from the instrument box (11), and an end effector connected to the distal end of the axis assembly (12); the instrument box (11) comprises an instrument connection port (110), and a first magnetic member (100) or an electromagnetic coil (200) provided on the instrument box (11).

2. The end device according to claim 1, characterized in that: When the electromagnetic coil (200) is provided on the instrument box (11), the electromagnetic coil (200) is a group of coils and is wound around the circumferential surface of the shell of the instrument box (11), wherein the axial direction of the coils is parallel to the axial direction of the instrument connection port (110); Or the electromagnetic coil (200) includes a plurality of groups of winding coils, and the plurality of groups of winding coils are distributed in the instrument box (11), wherein the axial direction of each winding coil is parallel to the axial direction of the instrument connection port (110).

3. The end device according to claim 1, characterized in that: When the first magnetic member (100) is provided on the instrument box (11), the first magnetic member (100) comprises a plurality of magnets, the plurality of magnets are distributed in the instrument box (11), and the polarity direction of each magnet is parallel to the axial direction of the instrument connection port (110).

4. A terminal power assembly, characterized in that: The invention comprises a power box (21), wherein the power box (21) comprises a power output port (210), and when the power box (21) is connected to the instrument box (11) of the end instrument (10) according to any one of claims 1 to 3, the power output port (210) is connected to the instrument connection port of the instrument box (11), and the power box (21) comprises a first magnetic member (100) or an electromagnetic coil (200); wherein, When the instrument box (11) is provided with the first magnetic member (100), the power box (21) is provided with the electromagnetic coil (200); Or, when the electromagnetic coil (200) is provided on the instrument box (11), the first magnetic member (100) is provided on the power box (21); Thus, a magnetic field is generated by the electromagnetic coil (200), and a suction force is generated between the electromagnetic coil (200) and the first magnetic member (100), so that the power box (21) and the instrument box (11) are connected and locked.

5. The terminal power assembly according to claim 4, characterized in that: When the power box (21) is provided with an electromagnetic coil (200), the electromagnetic coil (200) is a group of winding coils and is wound around the circumferential surface of the shell of the power box (21), wherein the axial direction of the winding coils is parallel to the axial direction of the power output port (210); Or the electromagnetic coil (200) includes a plurality of groups of winding coils, and the plurality of groups of winding coils are distributed in the power box (21), wherein the axial direction of each winding coil is parallel to the axial direction of the power output port (210).

6. The terminal power assembly according to claim 4, characterized in that: When the first magnetic member (100) is provided on the power box (21), the first magnetic member (100) comprises a plurality of magnets, the plurality of magnets are distributed in the power output port (210) of the power box (21), and the polarity direction of each magnet is parallel to the axial direction of the power output port (210).

7. The terminal power assembly according to claim 4, characterized in that: When the first magnetic member (100) is provided on the instrument box (11) and the electromagnetic coil (200) is provided on the power box (21), the power box (21) further comprises a second magnetic member (300), the second magnetic member (300) being connected to the power output port (210), and the second magnetic member (300) being used to enable the power output port (210) to have a force to move toward the instrument box (11) when the electromagnetic coil (200) generates a magnetic field.

8. A surgical robot system, characterized in that: It comprises a robotic arm, an end instrument (10) as described in any one of claims 1 to 3, and an end power assembly (20) as described in any one of claims 4 to 7, wherein the end power assembly (20) is arranged at the end of the robotic arm, and the end instrument (10) is detachably connected to the end power assembly (20) via an adapter (30).

9. The surgical robot system according to claim 8, characterized in that: It also includes a detection module and a control module, the detection module and the control module are communicatively connected, the detection module is used to detect the electrical signal in the electromagnetic coil (200) in real time, and the control module controls the current conduction or disconnection of the electromagnetic coil (200) according to the electrical signal and / or the received control signal, wherein the control signal includes a locking signal and an unlocking signal.

10. The surgical robot system according to claim 9, characterized in that: The control module includes a control circuit; The control module acquires the electrical signal in the electromagnetic coil (200) through the detection module to determine the change in the magnetic field intensity in the electromagnetic coil (200), thereby judging whether the first magnetic member (100) and the electromagnetic coil (200) are close to each other; When the control module determines that the first magnetic member and the electromagnetic coil (200) are close to each other or a locking signal is received, the control circuit is controlled to energize the electromagnetic coil (200); When the control module receives an unlocking signal, it controls the control circuit to cut off power to the electromagnetic coil (200).

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