End tool and surgical robot

Abstract

The utility model relates to the field of medical robots, and provides an end tool and a surgical robotic.The end tool comprises a power tool and a surgical tool, the power tool comprises a surgical tool recognition unit, a control unit and a power motor, the surgical tool is provided with N magnet positions, and N is larger than or equal to 1; the surgical tool identification unit is used for generating induction data based on the mounting conditions of the magnets at the N magnet positions in the surgical tool and transmitting the induction data to the control unit; the control unit is used for identifying a tool category corresponding to the surgical tool based on the sensing data and determining a rated rotating speed corresponding to the tool category; the power motor is used for driving the surgical tool based on the rated rotating speed so as to drive the surgical tool to execute corresponding surgical operation. One power tool can provide power for various different surgical tools, the instrument cost of the surgical robot is reduced, the surgical time can be saved, and the surgical efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical robots, and particularly to an end effector and a surgical robot. Background Art

[0002] With the development of technology, robots are gradually applied in the medical field. A surgical robot includes a robotic arm and an end effector. The end effector is installed at the end of the robotic arm and is used to perform various surgical operations.

[0003] Surgical robots are mainly joint robots. The joint robots require an end effector to perform bone grinding to complete the surgery. The main surgeries involve different surgical procedures such as the condyle, knee, and hip. The corresponding end effectors are usually burrs, oscillating saws, acetabular rasps, etc. The main principle of the joint robot is that the doctor pulls the trigger. According to the depth of the trigger collected, a trigger signal is input. The embedded system drives the motor in the end effector to rotate according to the trigger signal, reaches the target speed, drives the bone grinding tool in the end effector to move, and then performs surgical grinding to complete joint replacement. Among them, the performance of the end effector of the surgical robot determines the surgical effect and the overall surgical time, and is one of the most important components of the surgical robot.

[0004] In the related art, the bone grinding tool in the end effector and the power system are integrally designed, and the end effector and the robotic arm are separately designed, that is, one surgical procedure corresponds to one end effector. This will increase the instrument cost of the surgical robot, and because the replacement of the end effector is difficult, replacing the entire set of end effectors during the surgery will waste surgical time and reduce surgical efficiency. Summary of the Utility Model

[0005] Based on this, it is necessary to provide an end effector and a surgical robot for the above technical problems, to reduce the instrument cost of the surgical robot, reduce the replacement of the power tool during the surgery, save surgical time, and improve surgical efficiency.

[0006] In a first aspect, an embodiment of the present application provides an end effector. The end effector includes a power tool and a surgical tool. The power tool includes: a surgical tool identification unit, a control unit, and a power motor. Among them, the surgical tool identification unit is connected to the control unit, and the control unit is connected to the power motor. The front end of the power tool is used to install the surgical tool. The surgical tool is provided with N magnet positions, where N is greater than or equal to 1. The surgical tool identification unit is used to generate induction data based on the installation of magnets at the N magnet positions in the surgical tool and transmit the induction data to the control unit. The control unit is used to identify the tool category corresponding to the surgical tool based on the induction data and determine the rated speed corresponding to the tool category. The power motor is used to drive the surgical tool based on the rated speed to drive the surgical tool to perform corresponding surgical operations.

[0007] In a second aspect, an embodiment of the present application provides a surgical robot, which includes a robot body and an end effector as described in the first aspect above. The robot body and the end effector are of an integrated structure.

[0008] An end effector and a surgical robot provided by an embodiment of the present application. The end effector includes a power tool and a surgical tool. The power tool includes: a surgical tool identification unit, a control unit, and a power motor. Among them, the surgical tool identification unit is connected to the control unit, and the control unit is connected to the power motor. The front end of the power tool is used to install the surgical tool. The surgical tool is provided with N magnet positions, where N is greater than or equal to 1. The surgical tool identification unit is configured to generate induction data based on the installation of magnets at the N magnet positions on the surgical tool and transmit the induction data to the control unit. The control unit is configured to identify the tool category corresponding to the surgical tool based on the induction data and determine the rated speed corresponding to the tool category. The power motor is configured to drive the surgical tool based on the rated speed to drive the surgical tool to perform corresponding surgical operations.

[0009] Since N magnet positions are provided on the surgical tool for installing magnets, and at the same time, a surgical tool identification unit is provided on the power tool. The surgical tool identification unit can generate induction data according to the installation of magnets on the surgical tool. The control unit can determine the category of the surgical tool installed at the front end according to the induction data and determine the rated speed corresponding to the category of the surgical tool to control the power motor to rotate at this speed. Driven by the rotation of the power motor, the surgical tool performs corresponding surgical operations. The power tool automatically identifies the type of surgical tool according to the installation of magnets on different surgical tools. One power tool can provide power for multiple different surgical tools, reducing the instrument cost of the surgical robot.

[0010] Further, during the surgical process, when it is necessary to replace the end effector, only the surgical tool needs to be replaced, and there is no need to replace the entire set of end effectors. The replacement difficulty of the surgical tool is much smaller than that of the entire set of end effectors. Therefore, surgical time can be saved and surgical efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic structural diagram of the disassembled end effector provided by an embodiment of the present application;

[0012] Figure 2 is a schematic structural diagram of the assembled end effector provided by an embodiment of the present application;

[0013] Figure 3 is a schematic control block diagram of a power tool provided by an embodiment of the present application;

[0014] Figure 4 It is a block diagram of the control principle of another power tool provided by an embodiment of the present application;

[0015] Figure 5 It is a peripheral circuit diagram of a control unit provided by an embodiment of the present application;

[0016] Figure 6 It is a circuit structure diagram of a surgical tool identification unit provided by an embodiment of the present application;

[0017] Figure 7 It is a schematic diagram of a surgical tool identification circuit board provided by an embodiment of the present application;

[0018] Figure 8 It is a circuit structure diagram of a trigger signal acquisition unit provided by an embodiment of the present application;

[0019] Figure 9 It is a schematic diagram of a trigger signal acquisition circuit board provided by an embodiment of the present application. Detailed implementation manners

[0020] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0021] It should be understood that the various steps recited in the method embodiments of the present disclosure can be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0022] As used herein, the term "including" and its variations are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0023] It should be noted that the concepts such as "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependent relationships. The modifiers "a" and "multiple" mentioned in this disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless clearly specified otherwise in the context, it should be understood as "one or more".

[0024] With the development of technology, robots are gradually applied in the medical field. Surgical robots include robotic arms and end-effectors. The end-effectors are installed at the end of the robotic arms and are used to perform various surgical operations.

[0025] Surgical robots are mainly joint robots, and joint robots require end-effectors to perform bone grinding to complete surgeries. The main surgeries involve different procedures such as the condyle, knee, and hip, and the corresponding end-effectors are usually burrs, oscillating saws, acetabular reamers, etc. The main principle of the joint robot is that the doctor pulls the trigger. According to the collected trigger depth, a trigger signal is input. The embedded system drives the motor in the end-effector to rotate according to the trigger signal to reach the target speed, drives the bone grinding tool in the end-effector to move, and then performs surgical grinding to complete joint replacement. Among them, the performance of the end-effector of the surgical robot determines the surgical effect and the overall surgical time, and it is one of the most important components of the surgical robot.

[0026] Currently, the end-effector and the robotic arm are designed separately, and one end-effector corresponds to one surgical procedure. In other words, each different surgical operation step has its corresponding end-effector. For example: when performing operations such as bone cutting, bone repair, and bone formation in orthopedic surgeries, a burr is needed; another example: when performing operations such as cutting bone structures or bone implants in orthopedic surgeries, an oscillating saw is needed; and another example: when trimming and adjusting the shape and size of the acetabulum in orthopedic surgeries, an acetabular reamer is needed.

[0027] In the application of surgical robots, during the process of completing the same surgery, multiple different operations are often required. Therefore, multiple different end-effectors are needed during the same surgical process, and multiple end-effectors will increase the instrument cost of the surgical robot.

[0028] Since different end-effectors often need to be replaced during the process of completing the same surgery, it is necessary to disassemble and assemble different end-effectors. Due to the difficulty in replacing the end-effectors, replacing the entire set of end-effectors during the surgery will waste surgical time and reduce surgical efficiency.

[0029] When replacing the end-effector, since the surgical robot system cannot automatically identify, manual switching is required, which increases the surgical process.

[0030] In the related art, the handle in the end effector is basically fixedly installed at a certain angle, that is, the position of the handle grip is not adjustable. In this way, interference is likely to occur during the operation, causing inconvenience to the operation.

[0031] Finally, in the related art, the driving mode of the end effector is a sensing drive, and the anti-interference ability is weak.

[0032] To solve all or at least one of the above problems, the embodiments of the present application provide an end effector and a surgical robot. The end effector includes a power tool and a surgical tool. The power tool includes: a surgical tool identification unit, a control unit, and a power motor. The surgical tool identification unit is connected to the control unit, and the control unit is connected to the power motor. The front end of the power tool is used to install the surgical tool. The surgical tool is provided with N magnet positions, where N is greater than or equal to 1. The surgical tool identification unit is configured to generate induction data based on the installation of magnets at the N magnet positions on the surgical tool and transmit the induction data to the control unit. The control unit is configured to identify the tool type corresponding to the surgical tool based on the induction data and determine the rated speed corresponding to the tool type. The power motor is configured to drive the surgical tool based on the rated speed to drive the surgical tool to perform corresponding surgical operations.

[0033] Since N magnet positions are provided on the surgical tool for installing magnets, and at the same time, a surgical tool identification unit is provided on the power tool. The surgical tool identification unit can generate induction data according to the installation of magnets on the surgical tool. The control unit can determine the type of the surgical tool installed at the front end according to the induction data and determine the rated speed corresponding to the type of the surgical tool, so as to control the power motor to rotate at this speed. Driven by the power motor, the surgical tool performs corresponding surgical operations. The power tool automatically identifies the type of the surgical tool according to the installation of magnets on different surgical tools. One power tool can provide power for multiple different surgical tools, reducing the instrument cost of the surgical robot.

[0034] Furthermore, during the operation, when it is necessary to replace the end effector, only the surgical tool needs to be replaced, and there is no need to replace the entire set of end effectors. The replacement difficulty of the surgical tool is much smaller than that of the entire set of end effectors. Therefore, the operation time can be saved and the operation efficiency can be improved.

[0035] The following will describe in detail the end effector and the surgical robot provided by the embodiments of the present application in conjunction with the embodiments and the accompanying drawings.

[0036] Figure 1 It is a schematic structural diagram of the disassembled end effector provided by the embodiment of the present application. Figure 2 It is a schematic structural diagram of the assembled end effector provided by the embodiment of the present application; as Figure 1And Figure 2 As shown in Figure 2 , the end effector 10 provided by the embodiment of the present application mainly includes: a power tool 11 and a surgical tool 12. Among them, the power tool 11 includes: a surgical tool identification unit 111, a control unit (not shown in the figure), and a power motor 112. Among them, the surgical tool identification unit 111 is connected to the control unit, the control unit is connected to the power motor 112, and the front end of the power tool 11 is used to install the surgical tool 12. The surgical tool is provided with N magnet positions, where N is greater than or equal to 1.

[0037] Among them, the surgical tool identification unit 111 is used to generate induction data based on the installation conditions of the magnets at the N magnet positions in the surgical tool 12, and transmit the induction data to the control unit; the control unit is used to identify the tool category corresponding to the surgical tool 12 based on the induction data, and determine the rated speed corresponding to the tool category; the power motor 112 is used to drive the surgical tool based on the rated speed to drive the surgical tool to perform corresponding surgical operations.

[0038] First, the end effector will be described.

[0039] The end effector generally refers to a tool installed at the end of the robot arm (similar to the position of the human hand) for performing specific operations. For example: when the robot is a surgical robot, the end effector includes a surgical tool for performing surgical operations and a power tool for providing power to the surgical tool.

[0040] Next, the surgical tool 12 will be described.

[0041] The surgical tool 12 and the power tool 11 can be detachably installed. As Figure 1 shown in Figure 1 , the surgical tool 12 is detachably connected to the power tool 11 through a connecting member 121, where the connecting member 121 can be a threaded joint or other mechanical connecting members.

[0042] Furthermore, as Figure 1 shown in Figure 1 , N magnet positions 122 are provided on the end face where the surgical tool 12 is connected to the power tool 11. N can be set according to the actual situation. Since the embodiment of the present application identifies the tool category of the surgical tool currently installed at the front end of the power tool according to the installation conditions of the magnets, N is set to be greater than or equal to 1. In the case of only 1 magnet installation position, the installation of a magnet at this position is a first-class surgical tool, and the non-installation of a magnet at this position is a second-class surgical tool. This enables one magnet position to indicate 2 types of tools, reducing the number of magnet position installations. Similarly, when there are three magnet positions, up to 8 types of tools can be indicated.

[0043] However, when the number N of magnet installation positions is not the same as the types of surgical tools, certain logical operations are required to determine which surgical tool it is. Moreover, if the installed magnet falls off or the induction fails, etc., it may lead to incorrect judgment of the surgical tool category, and further lead to surgical accidents. For this reason, the number N is set to be the same as the types of surgical tools. In other words, for several surgical tools, several magnet positions are set. For example: there are 3 types of surgical tools, and 3 magnet positions are set.

[0044] As Figure 1 shown, in this embodiment, N is taken as an example of 3 for illustration, that is, in the embodiment of the present application, 3 magnet positions are set on the end face of the surgical tool 12 for illustration. Install a magnet at the first magnet position, indicating the first type of surgical tool, install a magnet at the second magnet position, indicating the second type of surgical tool, and install a magnet at the third magnet position, indicating the third type of surgical tool. Whether a magnet is installed at such a magnet position indicates a surgical tool. In the case where the installed magnet falls off or no magnet is installed, no category of surgical tool is indicated, avoiding the problem of incorrect judgment of the surgical tool category caused by the fall of the installed magnet, induction failure, etc., and improving the accuracy of surgical tool recognition.

[0045] In a possible implementation manner, the above-mentioned surgical tools include at least one of the following: bone drill, oscillating saw, sternum saw, hollow bone drill, acetabular reamer, medullary cavity reamer, craniotomy drill, and cranial milling.

[0046] When the surgical robot is a joint robot, that is, the surgical robot is a robot for handling surgical operations at joints, the above-mentioned surgical tools may include a bone drill, an oscillating saw, and an acetabular reamer.

[0047] Install a magnet at the first magnet position, indicating that the surgical tool is a bone drill, install a magnet at the second magnet position, indicating that the surgical tool is an oscillating saw, and install a magnet at the third magnet position, indicating that the surgical tool is an acetabular reamer.

[0048] In this embodiment, the specific category of the surgical tool is indicated by the magnet installation position, so as to realize that the end tool can automatically identify the surgical tool installed at the front end of the power tool.

[0049] Next, the power tool in the end tool will be described.

[0050] The power tool is a tool that provides power for the surgical tool. The front end of the power tool refers to the port connected to the surgical tool. As Figure 1 and Figure 2 shown, the power tool 11 includes a surgical tool recognition unit 111, a control unit, and a power motor 112.

[0051] The installation of magnets at N magnet positions may include the installation positions of the magnets and the number of installed magnets. Among them, the induction data may include digital induction data. Specifically, if a magnet is installed at the first magnet position of the surgical tool 12, the surgical tool identification unit 111 will generate electromagnetic induction at the first magnet position and generate digital induction data for the first magnet position, and transmit the digital induction data for the first magnet position to the control unit 113. If a magnet is installed at the second magnet position of the surgical tool 12, the surgical tool identification unit 111 will generate electromagnetic induction at the second magnet position and generate digital induction data for the second magnet position, and transmit the digital induction data for the second magnet position to the control unit 113. If a magnet is installed at the third magnet position of the surgical tool 12, the surgical tool identification unit 111 will generate electromagnetic induction at the third magnet position and generate digital induction data for the third magnet position, and transmit the digital induction data for the third magnet position to the control unit 113.

[0052] For example: If a magnet is installed at the first magnet position of the surgical tool 12, the surgical tool identification unit 111 will generate electromagnetic induction at the first magnet position and generate the digital induction data for the first magnet position as "100", and transmit the digital induction data "100" to the control unit. If a magnet is installed at the second magnet position of the surgical tool 12, the surgical tool identification unit 111 will generate electromagnetic induction at the second magnet position and generate the digital induction data for the second magnet position as "010", and transmit the digital induction data "010" for the second magnet position to the control unit. If a magnet is installed at the third magnet position of the surgical tool 12, the surgical tool identification unit 111 will generate electromagnetic induction at the third magnet position and generate the digital induction data "001" for the third magnet position, and transmit the digital induction data "001" for the third magnet position to the control unit 113.

[0053] After the above control unit 113 receives the digital induction data, it determines the tool category of the surgical tool installed at the front end of the power tool according to the digital induction data. Specifically, when the control unit 113 receives the digital induction data "100", it determines the tool category corresponding to the digital induction data "100" as the first type of surgical tool by querying; when the control unit 113 receives the digital induction data "010", it determines the tool category corresponding to the digital induction data "010" as the second type of surgical tool by querying; when the control unit 113 receives the digital induction data "001", it determines the tool category corresponding to the digital induction data "001" as the third type of surgical tool by querying. Among them, the above query method may be by looking up a table or searching in a database, and the embodiments of the present application do not specifically limit it.

[0054] The control unit 113 determines the rated speed corresponding to the power motor, and after determining the type of surgical tool, controls the power motor to rotate at the rated speed corresponding to the power motor. In one implementation, the control unit 113 can pre-store the rated speed of the power motor in itself, and directly read the pre-stored rated speed of the power motor when needed. In another implementation, the control unit 113 can obtain the rated speed of the power motor from the main control unit of the surgical robot.

[0055] In one implementation, the control unit 113 can pre-store the rated speeds corresponding to various types of surgical tools in itself, and directly read the rated speed of the identified type of surgical tool pre-stored in itself when needed. In another implementation, the control unit 113 can send the identified type of surgical tool to the main control unit of the surgical robot, and the main control unit of the surgical robot determines the rated speed corresponding to the identified type of surgical tool, and feeds back the rated speed of the type of surgical tool to the control unit 113.

[0056] In practical applications, each surgical tool needs to work at its corresponding rated speed. Therefore, a speed regulator needs to be set for the power motor to adjust the rated speed of the power motor to the rated speed corresponding to the tool type. This speed regulator can be set on the surgical tool or on the power tool. Preferably, this speed regulator is set on the surgical tool.

[0057] The power motor rotates at the rated speed corresponding to the power motor, and the speed regulator converts the rated speed corresponding to the power motor into the rated speed corresponding to the surgical tool type to drive the surgical tool to perform corresponding surgical operations.

[0058] In a possible implementation, the control unit 113 communicates with the main control unit of the surgical robot through CAN communication. The main control unit of the surgical robot is an embedded main control unit.

[0059] Specifically, the control unit converts various signals into CAN messages, and then interacts with the embedded main control unit of the surgical robot through CAN communication to improve stability and anti-interference ability.

[0060] In a possible implementation, the power tool further includes: a drive circuit for driving the power motor; the drive circuit is integrated in the main control unit of the surgical robot.

[0061] The motor drive circuit is integrated into the robot embedded main control unit, and the drive method adopts a sensorless drive method. The main control unit only needs to connect the UVW three phases to the power motor, reducing the radiation emission energy and increasing the system anti-interference ability.

[0062] In a possible implementation, the power tool further includes: a trigger and a trigger signal acquisition unit. The trigger is connected to the trigger signal acquisition unit, and the trigger signal acquisition unit is connected to the control unit. Among them, the trigger signal acquisition unit is configured to acquire an analog signal of the trigger stroke during the process of pulling the trigger. The control unit is specifically configured to generate a trigger stroke signal based on the analog trigger signal, and determine the current speed based on the trigger stroke signal and the rated speed. The power motor is specifically configured to drive the surgical tool at the current speed to drive the surgical tool to perform corresponding surgical operations.

[0063] As Figure 2 shown, the trigger 114 refers to a part in the power tool. During the surgical process, the doctor pulls the trigger 114 by hand to control the operating state of the surgical tool. The trigger signal acquisition unit refers to the unit that acquires the stroke of the trigger 114 during the process of the doctor pulling the trigger 114 to generate a trigger stroke signal. As Figure 3 shown, the trigger signal acquisition unit is connected to the control unit and transmits the acquired analog trigger signal to the control unit.

[0064] Among them, the trigger stroke signal is used to indicate the ratio of the current stroke of the trigger to the total stroke. The product of the trigger stroke signal and the rated speed corresponding to the surgical tool type is used as the current speed. The power motor drives the surgical tool at the current speed.

[0065] Further, as Figure 4 shown, the trigger signal acquisition unit is connected to the control unit through a second logic gate circuit, and the second logic gate circuit includes two-stage operational amplifier circuits.

[0066] In a possible implementation, the trigger is connected to the trigger signal acquisition unit through a ring trigger magnet.

[0067] In this embodiment, the power tool is designed to be partially rotatable (it can be understood that when the power tool is installed at the end of the robot arm, the power motor is fixed and the trigger part can rotate around the installation axis). A ring trigger magnet is designed to achieve the function of still acquiring the same analog signal when the trigger rotates at various angles.

[0068] In a possible implementation, as Figure 4 shown, the power tool further includes: a temperature sensor and an alarm device. The temperature sensor and the alarm device are respectively connected to the control unit 113. The temperature sensor is configured to detect the temperature value of the handle and transmit the temperature value to the control unit. The control unit 113 is further configured to periodically determine whether the temperature value exceeds the temperature threshold, and generate an alarm signal when the temperature value exceeds the temperature threshold. The alarm device is configured to perform an alarm operation based on the alarm signal.

[0069] A temperature sensor refers to a sensor that can sense temperature and convert it into an available output signal. Among them, the warning device may include devices that generate lights, sounds, texts, etc.

[0070] The above-mentioned temperature sensor is arranged at the handle as Figure 1 shown, and is used to detect the temperature value of the handle. Then, the detected temperature value is transmitted to the control unit 113. After receiving the temperature value, the control unit 113 compares the temperature value with a pre-set temperature threshold. If the temperature value is less than the temperature threshold, no processing is performed. If the temperature value is greater than or equal to the temperature threshold, it indicates that the temperature at the handle is too high, and the too-high temperature may affect the operation of the surgical robot and the doctor's control of the surgical robot.

[0071] When the temperature value exceeds the temperature threshold, the control unit 113 generates an alarm signal and sends the alarm signal to the warning device, so that the warning notifies the on-site medical staff that the current temperature of the handle is too high.

[0072] Furthermore, as Figure 4 shown, the temperature sensor is connected to the control unit 113 through a third logic gate circuit, and the third logic gate circuit includes a single-stage operational amplifier circuit.

[0073] In a possible implementation manner, the control block diagram of the power tool further includes: an RGB light, where the RGB light is connected to the control unit 113, and the RGB light is a multi-color RGB light-emitting diode, which is used to indicate the working state of the end tool. For example: when the RGB light is green, it indicates that the end tool is in the running state; when the RGB light is red, it indicates that the end tool is in the paused state. The RGB light can be selected as HSMF-C116.

[0074] Among them, the control unit 113 can be selected as an STM32F103C8 chip. As Figure 4 shown, the STM32F103C8 chip further includes a download interface, which is used to download files or toolkits from external devices. Inside the STM32F103C8 chip, there are also FLASH and RAM, both of which are on-chip resources of the STM32F103C8 chip. Timer is the on-chip timer resource used, and SWD is the program download interface.

[0075] Next, the peripheral circuit of the STM32F103C8 chip will be described.

[0076] As Figure 5As shown in the figure, the STM32F103C8 chip includes 8 signal ports. The first port 11 is connected to the power supply chip, and the power supply chip is connected to the main control unit of the surgical robot through interface 21. The second port 12 is connected to the CAN transceiver chip, and the CAN transceiver chip is connected to the main control unit of the surgical robot through interface 21. In addition, the main control unit is connected to the power motor through interface 22. The third port 13 is connected to the Flash chip. The fourth port 14 is connected to interface 23 through a Schmitt trigger, where interface 23 is connected to the surgical tool recognition unit. The fifth port 15 is connected to the RGB light. The sixth port 16 is the download interface 24. The seventh port 17 is connected to the temperature sensor through interface 25, and the eighth port 18 is connected to the operational amplifier. The operational amplifier is connected to the trigger signal acquisition unit through interfaces 26 and 27.

[0077] Among them, the power supply chip is used to provide electrical energy for the STM32F103C8 chip, and can provide 5V electrical energy or 3V electrical energy. Further, the power supply chip is connected to the power supply in the main control unit and is used to convert the power supply in the active unit into a power supply available for the STM32F103C8 chip. The power supply chip can be selected as TLV755-33P.

[0078] Among them, the Flash chip can be selected as CAT25512, the Schmitt trigger is SN74HCS04BQA, and the operational amplifier is LM2902PT.

[0079] The surgical tool recognition unit in the power tool will be described below.

[0080] As Figure 6 shown, the surgical tool recognition unit includes N first Hall sensors, and the installation conditions of the magnets include the number of installed magnets and the installation positions of the magnets; the N first Hall sensors are used to sense the number of installed magnets and the installation positions of the magnets and generate corresponding induction signals.

[0081] Among them, the surgical tool recognition unit may include a surgical tool recognition circuit. As Figure 7 shown, the surgical tool recognition circuit is deployed on the circuit board, and the above surgical tool recognition circuit may include N first Hall sensors.

[0082] As Figure 5 shown, the surgical tool recognition unit 111 is connected to the control unit 113 after passing through the first logic gate circuit. In other words, the induction data collected by the surgical tool recognition unit 111 is processed by the above first logic gate circuit and then transmitted to the control unit 113. Among them, the above first logic gate circuit includes a Schmitt trigger circuit.

[0083] The Hall sensor is a magnetic field sensor made based on the Hall effect. The Hall effect is a type of magnetoelectric effect. The main function of the Hall sensor is to identify the installation situation of the magnet at the magnet position and convert it into an electrical signal. The first Hall sensor refers to the sensor used to sense the installation situation of the magnet. The first Hall sensor is a digital Hall sensor. Among them, the digital Hall sensor refers to a Hall sensor whose output is a digital signal.

[0084] The digital Hall sensors correspond one-to-one with the magnet installation positions on the surgical tool. As Figure 1 shown, there are three positions on the surgical tool where the magnet can be installed. Then, three digital Hall sensors are arranged in the surgical tool recognition circuit board corresponding to them. The installation positions and quantities of the magnets on different surgical tools are different. When different end tools are installed on the handle, the N first Hall sensors output different values, and then different tools can be automatically recognized.

[0085] Furthermore, as Figure 6 shown, the 3 digital sensors are connected to the control unit 113 through the interface 23 and the Schmitt trigger electrical appliance (see Figure 4 ). Among them, the first Hall sensor is a linear Hall sensor. Optionally, the first Hall sensor is AH3661 / E-M.

[0086] In the embodiment of the present application, a surgical tool recognition circuit is designed with a Hall sensor at the head end of the power tool. Through the changes in the quantity and position of the magnets on different tools, when the surgical tool is installed, the power tool can automatically recognize the type of the surgical tool and upload it to the robot system to complete the automatic recognition of the power tool. Through non-contact recognition, it has high sensitivity and high stability, and the data is not affected by wear, multiple cleanings, etc., and is suitable for the operating room environment.

[0087] The following is an explanation of the power tool.

[0088] As Figure 8 shown, the trigger signal acquisition unit includes M second Hall sensors, and the M second Hall sensors are arranged in a one-word shape at equal intervals along the trigger pulling direction; the M second Hall sensors are used to sequentially sense the magnetic flux during the process of pulling the trigger and generate a trigger stroke analog signal.

[0089] Among them, the trigger signal acquisition unit may include a trigger signal acquisition circuit. As Figure 9 shown, this trigger signal acquisition circuit is deployed on the circuit board, and the above trigger signal acquisition circuit may include M second Hall sensors.

[0090] As Figure 5As shown in the figure, the trigger signal acquisition unit is connected to the control unit 113 after passing through the second logic gate circuit. In other words, the trigger signal acquisition unit collects the stroke analog signal, processes it through the above-mentioned second logic gate circuit, and then transmits it to the control unit 113. Among them, the second logic gate circuit includes two-stage amplifier circuits.

[0091] The second Hall sensor refers to a sensor used to sense the trigger stroke. The second Hall sensor is an analog Hall sensor. Among them, the analog Hall sensor refers to a Hall sensor whose output is an analog signal. Further, the stroke analog signal output by the trigger signal acquisition unit can be a specific magnet induction amount.

[0092] As Figure 8 shown, M Hall sensors are arranged in a straight line. As the doctor pulls the trigger, the trigger sequentially senses the magnet from left to right. The closer to the left side, the less magnetic flux is sensed. The closer to the right side, the more Hall sensors are triggered and the more magnetic flux is sensed. The sensed magnetic flux is sent to the control unit 113 as a stroke analog signal. The control unit 113 determines the trigger stroke by querying the stroke analog signal.

[0093] Further, as Figure 8 shown, 4 analog sensors are connected to the control unit 113 through an interface and two-stage amplifier circuits. Among them, the second Hall sensor is a bipolar Hall sensor. Optionally, the second Hall sensor is AH3513 / K-M.

[0094] In this embodiment, four bipolar analog Hall sensors are arranged, and the recognition of the unidirectional trigger signal is realized by collecting the AD values of four channels and combining algorithms.

[0095] The embodiment of the present application also provides a surgical robot, which includes a robot body and an end effector provided in the above embodiment. The robot body and the end effector are of an integrated structure.

[0096] In this embodiment, the robot body may refer to the arm of the surgical robot. The arm of the surgical robot and the power tool in the end effector are of an integrated structure. This avoids the replacement operation between the arm of the surgical robot and the power tool and can improve the surgical efficiency.

[0097] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0098] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although a number of specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0099] Although the subject matter has been described in language specific to structural features and / or methodological act logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms for implementing the claims.

Claims

1. A tip tool, characterized in that: The end tool includes a power tool and a surgical tool, the power tool includes: a surgical tool identification unit, a control unit and a power motor, wherein the surgical tool identification unit is connected to the control unit, the control unit is connected to the power motor, the front end of the power tool is used to install the surgical tool, and the surgical tool is provided with N magnet positions, wherein N is greater than or equal to 1; The surgical tool identification unit is used to generate sensing data based on the installation conditions of the magnets at the N magnet positions in the surgical tool, and transmit the sensing data to the control unit; The control unit is used to identify the tool category corresponding to the surgical tool based on the sensing data, and determine the rated speed corresponding to the tool category; The power motor is used to drive the surgical tool based on the rated rotation speed, so as to drive the surgical tool to perform corresponding surgical operations.

2. The end tool according to claim 1, characterized in that: The surgical tool identification unit includes N first Hall sensors, and the installation condition of the magnet includes the installation quantity of the magnet and the installation position of the magnet; The N first Hall sensors are used to sense the number of installed magnets and the installation positions of the magnets to generate corresponding sensing signals.

3. The end tool according to claim 1, characterized in that: Also includes: A trigger and a trigger signal acquisition unit, wherein the trigger is connected to the trigger signal acquisition unit, and the trigger signal acquisition unit is connected to the control unit; Wherein, the trigger signal acquisition unit is used to acquire the trigger stroke analog signal during the process of the trigger being pulled; The control unit is specifically used to generate a trigger travel signal based on the trigger analog signal, and determine a current rotation speed based on the trigger travel signal and the rated rotation speed; The power motor is specifically used to drive the surgical tool according to the current rotation speed, so as to drive the surgical tool to perform corresponding surgical operations.

4. The end tool according to claim 3, characterized in that: The trigger signal acquisition unit includes M second Hall sensors, and the M second Hall sensors are arranged in a straight line; The M second Hall sensors are used to sense magnetic flux in sequence and generate trigger travel analog signals during the process of the trigger being pulled.

5. The end tool according to claim 3, characterized in that: The trigger is connected to the trigger signal acquisition unit via an annular trigger magnet.

6. The end tool according to claim 1, characterized in that: The control unit communicates with the main control unit of the surgical robot via CAN communication.

7. The end tool according to claim 6, characterized in that: The power tool further includes: a driving circuit for driving the power motor; the driving circuit is integrated in the main control unit of the surgical robot.

8. The end tool according to claim 1 or 2, characterized in that: The power tool further comprises: a temperature sensor and an alarm device, wherein the temperature sensor and the alarm device are respectively connected to the control unit; The temperature sensor is used to detect the temperature value of the handle and transmit the temperature value to the control unit; The control unit is further configured to determine whether the temperature value exceeds a temperature threshold, and generate an alarm signal when the temperature value exceeds the temperature threshold; The alarm device is used to perform an alarm operation based on the alarm signal.

9. The end tool according to claim 1, characterized in that: The surgical tools include at least one of the following: a bone drill, an oscillating saw, a sternal saw, a hollow bone drill, an acetabular rasp, a medullary cavity rasp, a craniotomy drill, and a skull milling machine.

10. A surgical robot, characterized in that: The surgical robot comprises a robot body and an end tool as described in any one of claims 1 to 9, wherein the robot body and the end tool are an integrated structure.

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