Surgical instrument, surgical robot and end executive device of surgical robot

Abstract

The embodiment of the utility model provides a surgical instrument, a surgical robot and an end executive device of the surgical robot. The surgical instrument comprises an instrument box; the end effector is arranged in the instrument box; the first transmission shaft is rotatably arranged in the instrument box, and the first transmission shaft is in transmission connection with at least one part of the end effector; an information storage tag is arranged on the first transmission shaft and is provided with a second antenna, and the second antenna is arranged on the first transmission shaft; the second antenna is configured to be in communication connection with the power box so as to transmit information stored by the information storage tag to the power box. And the stability and the accuracy of reading the information of the surgical instrument are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical instrument, a surgical robot and its end effector. Background Technology

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient suffering. Among them, minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations, such as filtering hand tremors during operation, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity.

[0003] The minimally invasive surgical robot consists of a main control console and slave manipulators. The main control console collects the surgeon's operation signals, which are processed by the control system to generate control signals for the slave manipulators, which then execute the surgical procedures. Each slave manipulator is equipped with a slide assembly, on which a power unit is mounted. The power unit is detachably connected to an isolation plate and surgical instruments, thereby controlling the opening, closing, deflection, pitch, and rotation of the instruments. Before providing power to the instruments, the power unit needs to input information about the surgical instruments through program control, such as reading the instrument's serial number, checking the connection status, and writing the number of uses.

[0004] Common methods for reading and writing surgical instrument information include Radio Frequency Identification (RFID) and physical probe transmission. RFID typically involves electronic tags and scanners. The tags are attached to the surgical instruments, and the scanner is installed inside the power unit. When a surgical instrument is attached to the power unit, the scanner reads the instrument information from the tag to determine the corresponding instrument parameters. However, when a metal layer exists between the electronic tag and the scanner, the signal emitted by the scanner can be easily blocked or reflected, affecting the reading of the signal stored in the electronic tag. To ensure reading accuracy, the scanner needs to be relatively large and as close to the electronic tag as possible, which is detrimental to structural layout.

[0005] In related technologies, for example, Chinese invention patent CN106102638B discloses a signal connector for a sterile barrier between surgical instruments and remotely operated actuators. To improve signal reading accuracy and reduce the space occupied by RFID, the scanner is placed on a protrusion at the "ear" position of the power box. The corresponding "ear" of the isolation plate bottom plate is hollowed out to form a through hole. During assembly, the scanner is inserted into the corresponding through hole in the isolation plate bottom plate, thereby bringing the scanner closer to the electronic tag of the surgical instrument.

[0006] However, the limited space in the "ear" of the power box results in a smaller size for the RFID chip and antenna, which limits the antenna power, reduces the identification distance, and may lead to unstable signal reading / writing and low accuracy. Utility Model Content

[0007] This application provides a surgical instrument, a surgical robot, and its end effector, which can increase the size of the RFID chip and antenna, improve antenna power, and enhance the stability and accuracy of reading / writing information from the surgical instrument.

[0008] On one hand, embodiments of this application provide a surgical instrument, including:

[0009] Instrument box;

[0010] The end effector is located in the instrument box;

[0011] A first drive shaft is rotatably mounted on the instrument box and is drively connected to the end effector. An information storage tag is mounted on the first drive shaft, and the information storage tag has a second antenna mounted on the first drive shaft. The second antenna is configured to communicate with the power box to transmit the information stored in the information storage tag to the power box.

[0012] In one implementation, the surgical instrument further includes an instrument case base plate, and a first drive shaft passes through a third shaft hole in the instrument case base plate; the first drive shaft includes:

[0013] The first shaft is configured to transmit power to the end effector;

[0014] The second shaft passes through the third shaft hole and is sleeved on the outer circumference of the first shaft. The second shaft is fixed to the first shaft along the circumference of the first shaft. The information storage tag is set on the second shaft.

[0015] In one implementation, the third shaft hole includes a first hole segment and a second hole segment. Along the axial direction of the third shaft hole, the second hole segment is located on the side of the first hole segment facing away from the instrument box. The diameter of the second hole segment is larger than the diameter of the first hole segment to form a limiting step between the second hole segment and the first hole segment. The second shaft includes:

[0016] The shaft body is sleeved on the outer circumference of the first shaft, and the shaft body passes through the first hole section;

[0017] The power input disc is located at the end of the shaft body away from the first shaft; the power input disc is recessed in the second hole section, and the information storage tag is located on the power input disc.

[0018] In one implementation, the second guide wire is a ring, sleeved on the shaft body, and attached to the power input disc; the second guide wire is fixedly connected to the second shaft along its circumference.

[0019] In one implementation, a boss is provided on the side of the power input disc facing the shaft body, and the second antenna is sleeved on the outer periphery of the boss;

[0020] One of the peripheral wall of the boss and the inner wall of the second antenna is provided with a recess, and the other of the peripheral wall of the boss and the inner wall of the second antenna is provided with a protrusion; the protrusion is embedded in the recess to limit the second antenna and the second antenna along the circumference of the second shaft.

[0021] In one implementation, a washer is fitted around the outer periphery of the shaft body, one end of which is pressed against at least one of the boss and the second antenna, and the other end of which abuts against the bottom plate of the instrument box.

[0022] In one implementation, a washer is disposed within the first hole section and extends into the second hole section, so that there is a gap between the second antenna and the limiting step.

[0023] And / or, along the axial direction of the second shaft, the thickness of the boss is greater than the thickness of the second antenna, the washer is pressed onto the boss, and the second antenna is fixed to the power input plate.

[0024] In one implementation, the power input disk has a recess, and the information storage tag includes a storage chip located on the second antenna; the storage chip is accommodated within the recess.

[0025] In one implementation, the second shaft is a non-metallic component.

[0026] On the other hand, embodiments of this application provide a surgical robot end effector, comprising:

[0027] A power box has a top plate, an information reader is installed inside the power box, the information reader has a first antenna, the first antenna surrounds a first shaft hole in the top plate of the power box; a first power output plate is installed inside the first shaft hole;

[0028] The isolation plate is detachably mounted on the power box;

[0029] The surgical instrument provided in the foregoing embodiments of this application is detachably mounted on an isolation plate, with a first drive shaft connected to a first power output disc and a second antenna connected to a first antenna for communication.

[0030] In one implementation, the first power output disc is a non-metallic part; a mounting disc is provided in the first shaft hole, and the first antenna is located on the mounting disc;

[0031] The mounting plate has a through hole, and the first power output plate passes through the through hole.

[0032] In one implementation, the first antenna is disposed on the side of the mounting plate facing away from the isolation plate, and the mounting plate is a non-metallic component. In another aspect, embodiments of this application provide a surgical robot, including:

[0033] Main console;

[0034] The control arm communicates with the main control console.

[0035] The end effector provided in the foregoing embodiments of this application is disposed on the slave arm.

[0036] The surgical instruments, surgical robot end effector, and surgical robot provided in this application embodiment have an information storage tag mounted on the first drive shaft of the surgical instrument, and a second antenna of the information storage tag mounted on the first drive shaft. This utilizes the circumferential space of the first drive shaft, increasing the space available for the second antenna and allowing for its larger size. After the surgical instrument is mounted on the isolation plate, the second antenna can communicate with a power box, thereby transmitting the information stored in the information storage tag to the power box. This reduces interference with signal transmission between the first and second antennas, improving the stability and accuracy of signal transmission between the two antennas.

[0037] Furthermore, in this embodiment, the second antenna of the information storage tag is located on the first drive shaft; thus, the second antenna does not need to occupy the space of the instrument box's "ear", which facilitates the setting of other signal transmission channels between the power box and the instrument box. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the overall structure of the surgical robot end effector provided in some embodiments of this application;

[0040] Figure 2 This is an exploded structural diagram of the surgical robot end effector provided in some embodiments of this application;

[0041] Figure 3 This is a schematic diagram of the internal structure of the power box in the end effector of a surgical robot provided in some embodiments of this application;

[0042] Figure 4This is a schematic diagram of the instrument box in the end effector of a surgical robot provided in some embodiments of this application;

[0043] Figure 5 This is a schematic diagram of the structure of the power box top plate and the first antenna in the surgical robot end effector provided in some embodiments of this application;

[0044] Figure 6 This is a schematic diagram of the circuit board structure in the surgical robot end effector provided in some embodiments of this application;

[0045] Figure 7 This is a schematic diagram of the structure of the first drive shaft cooperating with the instrument box bottom plate in the surgical robot end effector provided in some embodiments of this application;

[0046] Figure 8 This is an exploded structural diagram of the first drive shaft cooperating with the instrument box bottom plate in the surgical robot end effector provided in some embodiments of this application;

[0047] Figure 9 This is a cross-sectional view of the first drive shaft and the instrument box bottom plate in the surgical robot end effector provided in some embodiments of this application;

[0048] Figure 10 yes Figure 9 A magnified view of a portion of point A in the middle;

[0049] Figure 11 This is a schematic diagram of the structure of the second shaft in the end effector of a surgical robot provided in some embodiments of this application;

[0050] Figure 12 This is a schematic diagram of the structure of the information storage tag in the end effector of a surgical robot provided in some embodiments of this application.

[0051] Explanation of reference numerals in the attached figures:

[0052] 10 - End effector;

[0053] 100 - Power box; 200 - Isolation plate; 300 - Surgical instruments;

[0054] 110 - Power box body; 120 - Power box top plate; 210 - Transmission disc; 310 - Instrument box; 320 - Instrument box bottom plate; 330 - Slender shaft; 340 - First transmission shaft; 350 - Information storage tag;

[0055] 111-First antenna; 112-Fixing plate; 113-Drive motor; 114-Circuit board; 121-First shaft hole; 122-First power output plate; 123-Mounting plate; 124-Second power output plate; 321-Third shaft hole; 341-First shaft; 342-Second shaft; 351-Second antenna; 352-Memory chip;

[0056] 1141 - First through hole; 1142 - Second through hole; 1231 - Through hole; 3211 - First hole section; 3212 - Second hole section; 3213 - Limiting step; 3421 - Shaft body; 3422 - Power input disc; 3423 - Boss; 3424 - Recess; 3425 - Washer; 3426 - Groove; 3511 - Protrusion. Detailed Implementation

[0057] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0058] This specification contains numerous specific technical details. However, it should be understood that embodiments of this application can be implemented without these specific technical details. Such detailed descriptions should not be construed as limiting, and the scope of protection of this application is defined only by the claims. Elsewhere, well-known structures, circuits, and other details have not been shown in detail to avoid misleading the public about the essence of this application.

[0059] In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present application. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be used, and changes in mechanical structure, physical composition, electrical aspects, and procedures may be made without departing from the spirit and scope of the present application.

[0060] The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” etc., are used for ease of explanation to describe the relationship between one element or feature illustrated in the figures and another element or feature. It should be understood that spatial relative terms are intended to cover different orientations of the device in use or operation other than those depicted in the figures. For example, if the device in the figures is flipped over, then an element described as “below” other elements or features will become “above” other elements or features. Thus, the exemplary term “below” can cover both above and below orientations. The device may be oriented in other ways (e.g., rotated 90° or otherwise), and the spatial relative descriptors used herein will be interpreted accordingly.

[0061] As used herein, “several,” the singular form “one,” and “the” are intended to include the plural form as well, unless the context otherwise indicates. It should be further understood that the terms “comprising” and / or “including” specify the presence of the stated feature, step, operation, element, and / or component without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0062] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "part," and "piece" are used interchangeably.

[0063] The terms “instrument,” “surgical instrument,” and “surgical device” are used herein to describe medical devices configured for insertion into a patient and for performing surgical or diagnostic procedures, including end-effectors. End-effectors can be surgical tools associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of this application further provide articulated supports (sometimes referred to as “wrists”) for the surgical tool, allowing the position and orientation of the end-effector to be manipulated relative to the instrument axis with one or more mechanical degrees of freedom. 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. Instruments may also contain permanent or updatable stored information (e.g., on a PCBA board within the instrument). Accordingly, the system can provide one-way or two-way communication between the instrument and one or more system components.

[0064] The term "mate" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mate objects to operate in combination with each other. It should be noted that a mate does not require a direct connection (e.g., a direct physical or electrical connection), but rather that many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Furthermore, the terms "detachably connected" or "detachably mate" can be interpreted as meaning a non-permanent connection or mate between two or more objects. This means that detachably connected objects can be unconnected and separated, allowing them to operate without being physically joined.

[0065] Finally, the terms “or” and “and / or” as used herein should be interpreted inclusively, meaning either one or any combination thereof. Therefore, “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. Exceptions to this definition will only occur when the combination of elements, functions, steps, or actions is inherently mutually exclusive in some way.

[0066] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robots

[0067] Laparoscopic surgical robots typically consist of a surgeon control platform, a patient operating platform, and an imaging platform. The surgeon sits on the surgeon control platform, viewing two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope placed inside the patient's body. They also control the movement of the robotic arm on the patient operating platform, as well as the surgical instruments or laparoscopes attached to that arm. The robotic arm essentially simulates a human arm, and the surgical instruments simulate a human hand; together, they provide the surgeon with a range of movements mimicking the human wrist while filtering out hand tremors.

[0068] The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. Surgical instruments and / or endoscopes are detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at the surgical site within the patient's body. The associated 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 fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located at the point where the surgical instrument enters the body, and this center of motion is referred to as the "discentus point."

[0069] An imaging platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for showing surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transmit images from the patient's body to the distal end of the endoscope via one or more imaging sensors (e.g., CCD or CMOS sensors). The video images are then transmitted to the main unit of the imaging platform through photoelectric conversion and other steps. Subsequently, image processing is performed, and the processed images are displayed on the video displays for the assistant to observe.

[0070] The surgeon control platform can be located at a single location within a surgical system comprised of laparoscopic surgical robots, or it can be distributed across two or more locations within the system. Remote master / slave operation can be performed according to a preset level of control. In some embodiments, the surgeon control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity-compensated manipulators, etc. These input devices acquire the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the remote-controlled motors on the surgical instrument manipulators, which in turn control the movement of the surgical instruments.

[0071] Generally, the force generated by the remote-controlled motor is transmitted via a drive system to the end effector of the surgical instrument. In some remote-controlled surgical embodiments, the input device for controlling the manipulator can be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with remote-controlled and telepresence surgery will understand such a system and its components.

[0072] In some examples, refer to Figure 1 and Figure 2 As shown, the surgical robot end effector 10 provided in this application embodiment may include a power box 100.

[0073] In some examples, refer to Figures 1-3 As shown, the power box 100 may include a power box body 110. The power box body 110 may be made of metal materials such as aluminum alloy or stainless steel. The power box body 110 may also be made of non-metallic materials such as rigid plastic or engineering plastic.

[0074] It is understood that in some examples of the embodiments of this application, the material of the power box body 110 is only shown as a specific example and is not intended to limit the material of the power box body 110.

[0075] In some examples, refer to Figures 1-3 As shown, the power box 100 may include a power box top plate 120. The power box top plate 120 may be disposed at the opening of the power box body 110. The power box top plate 120 and the power box body 110 together form an accommodating space. Since the power box 100 is fixedly mounted on the surgical robot end effector 10, and the isolation plate needs to be disassembled and reassembled multiple times, in order to improve durability (reduce wear, etc.), the power box top plate 120 can generally be made of a metal material such as stainless steel.

[0076] In some examples, refer to Figure 3 As shown, the accommodating space can accommodate a fixing plate 112. The fixing plate 112 can be fixedly connected to the power box body 110.

[0077] In some examples, the fixing plate 112 may be fixedly connected to the surgical slide (not shown) of the forging actuator 10. The power box housing 110 may surround the side of the fixing plate 112 facing away from the surgical slide.

[0078] In some examples, refer to Figure 3 As shown, the accommodating space can accommodate a drive motor 113. The drive motor 113 can be fixedly mounted on the fixing plate 112.

[0079] In some examples, drive motor 113 may include one.

[0080] In some examples, the drive motor 113 may include multiple motors. In some examples of embodiments of this application, multiple drive motors 113 are shown as specific examples.

[0081] In some examples, refer to Figure 2 and Figure 3 As shown, the top plate 120 of the power box may be provided with a first shaft hole 121. The output shaft of the drive motor 113 may pass through the first shaft hole 121, thereby outputting the power of the drive motor 113 to the outside through the first shaft hole 121.

[0082] In some examples, refer to Figure 1 and Figure 2 As shown, the surgical robot end effector 10 may include a partition plate 200. The partition plate 200 may be detachably mounted on the power box 100.

[0083] In some examples, the isolation plate 200 may be located on the top plate 120 of the power box. (See reference...) Figure 2 As shown, a transmission disk 210 may be provided on the isolation plate 200. The transmission disk 210 may be connected to the output shaft of the drive motor 113. The drive motor 113 may drive the transmission disk 210 to rotate, thereby transmitting power to the transmission disk 210.

[0084] For example, in some examples, the drive motor 113 can be connected to the first power output disk 122 (see the detailed description of the following examples of embodiments of this application). The drive motor 113 transmits power to the first power output disk 122, drives the first power output disk 122 to rotate, and the first power output disk 122 engages with the transmission disk 210, thereby transmitting power to the transmission disk 210 and driving the transmission disk 210 to rotate.

[0085] In some examples, refer to Figure 1 and Figure 2 As shown, the surgical robot end effector 10 may include a surgical instrument 300. The surgical instrument 300 may be detachably mounted on the partition plate 200.

[0086] In some examples, refer to Figure 2 As shown, the surgical instrument 300 may include an instrument case 310. The instrument case 310 may be disposed on the partition plate 200.

[0087] In some examples, refer to Figure 1 and Figure 2 As shown, the surgical instrument 300 may include an elongated shaft 330. The elongated shaft 330 may be disposed in the instrument housing 310. The elongated shaft 330 may be rotatably connected to the instrument housing 310.

[0088] In some examples, an end effector may be provided on the elongated shaft 330. The end effector may include forceps, needle holders, scissors, mono / bipolar cauterizers, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices, etc., as described in detail in the foregoing embodiments of this application.

[0089] In some examples, refer to Figure 4 As shown, the surgical instrument 300 may have a first drive shaft 340. The first drive shaft 340 may be disposed in the instrument housing 310. The first drive shaft 340 may be connected to the elongated shaft 330 for transmission, thereby driving the elongated shaft 330 and the end effector to move.

[0090] In some examples, the position of the first drive shaft 340 may correspond to the first shaft hole 121.

[0091] In some examples, the first drive shaft 340 can be coaxial with the first shaft hole 121. That is, the output shaft of the drive motor 113 can transmit power to the first drive shaft 340 through the first shaft hole 121. For example, the output shaft of the drive motor 113 can pass through the first shaft hole 121 and connect to the transmission disk 210 on the isolation plate 200, thereby transmitting power to the transmission disk 210; in addition, the first drive shaft 340 can be connected to the transmission disk 210 on the isolation plate 200, so that the transmission disk 210 transmits the power of the drive motor 113 to the first drive shaft 340.

[0092] In some examples, after the instrument box 310 is installed onto the isolation plate 200, it is necessary to read relevant information about the surgical instruments 300. For example, reading information such as the type, model, and number of uses of the surgical instruments 300 is required to ensure accurate installation of the surgical instruments 300 and improve the safety of the surgery.

[0093] In some examples, the power box 100 may be equipped with an information reader (not shown in the figure) to facilitate the reading of relevant information of the surgical instrument 300.

[0094] In some examples, the surgical instrument 300 (e.g., instrument case 310) may be provided with an information storage tag 350 (see reference). Figure 9 (As shown). The information storage tag 350 can be an RFID chip.

[0095] In some examples, this is to improve the stability and accuracy of the information reader's reading of information stored in the information storage tag 350. (See reference...) Figure 5 As shown, the information reader may have a first antenna 111. The first antenna 111 may surround a first shaft hole 121 in the top plate 120 of the power box.

[0096] In some examples, the first antenna 111 can be disposed around the outer periphery of the first shaft hole 121. In this way, the space around the first shaft hole 121 can be fully utilized, and the size of the first antenna 111 can be increased within a limited space, thereby increasing the power of the first antenna 111 and improving the stability and accuracy of reading the information stored in the information storage tag 350.

[0097] In some examples, a fixing member can be provided in the first shaft hole 121 to fix and support the first antenna 111, and the first antenna 111 can be wound around the fixing member.

[0098] In some examples, since the information reader is located inside the power box 100, to reduce the distance between the first antenna 111 and the information storage tag 350, the first antenna 111 can be placed close to the wall of the first shaft hole 121 and extend from the wall of the first shaft hole 121 to the side of the power box top plate 120 facing the isolation plate 200. This reduces the distance between the first antenna 111 and the information storage tag 350, thereby improving the stability and accuracy of the first antenna 111 reading the information stored in the information storage tag 350. Additionally, it avoids signal obstruction and shielding by the metal power box top plate 120, facilitating the first antenna 111's reading of the information from the information storage tag 350.

[0099] In some examples, the information storage tag 350 may be disposed on the first drive shaft 340 (see reference). Figure 9 (As shown). The information storage tag 350 has a second antenna 351 (see reference). Figure 11 (As shown). In this way, the second antenna 351 and the first antenna 111 can be set directly opposite each other, which can reduce the distance between the second antenna 351 and the first antenna 111, thereby improving the stability and accuracy of the first antenna 111 in reading the information stored in the information storage tag 350.

[0100] In some examples, the information storage tag 350 may have a second antenna 351. The second antenna 351 may be mounted on the first drive shaft 340.

[0101] In some examples, the second antenna can be wound around the outer periphery of the first drive shaft 340. This increases the size of the second antenna 351, thereby increasing its power. This, in turn, enhances the power of signal transmission between the first antenna 111 and the second antenna 351, thereby improving the accuracy and stability of the information reader's reading of information from the information storage tag 350.

[0102] In some examples, the signal transmission path between the first antenna 111 and the second antenna 351 is signal-conducted along the axial direction of the first axial hole 121.

[0103] In other words, there is no signal shielding between the first antenna 111 and the second antenna 351 along the axial direction of the first shaft hole 121. For example, the component between the first antenna 111 and the second antenna 351 can be non-metallic, which facilitates signal conduction between the first antenna 111 and the second antenna 351.

[0104] The surgical robot end effector 10 provided in this application embodiment includes an information reader installed within a power box 100. The first antenna 111 of the information reader surrounds a first shaft hole 121 in the top plate 120 of the power box. This fully utilizes the space around the first shaft hole 121, providing sufficient space for the first antenna 111 and allowing for an increase in its size. A surgical instrument 300 is mounted on an isolation plate 200 on the power box 100, with its first drive shaft 340 corresponding to the first shaft hole 121. This facilitates the power box 100 transmitting power to the first drive shaft 340 through the first shaft hole 121. An information storage tag 350 is mounted on the first drive shaft 340, and its second antenna 351 is mounted on the second drive shaft. This increases the size of the second antenna 351, thereby increasing the area of ​​mutual induction between the first and second antennas 111. Furthermore, the signal transmission path between the first and second antennas 351 is signal-conducting along the axial direction of the first shaft hole 121. In other words, there is no signal shielding between the first antenna 111 and the second antenna 351, which facilitates communication between the first antenna 111 and the second antenna 351. Compared with related technologies, the size of the first antenna 111 and the second antenna 351 can be increased, and the power of the first antenna 111 and the second antenna 351 can be increased, thereby improving the stability and accuracy of the information reader reading information from the information storage tag 350.

[0105] Furthermore, in this embodiment, the first antenna 111 of the information reader is arranged around the outer periphery of the first shaft hole 121, and the second antenna 351 of the information storage tag 350 is arranged on the first drive shaft 340; thus, the first antenna 111 does not need to occupy the space of the power box "ear", and the second antenna 351 does not need to occupy the space of the instrument box "ear", which facilitates the setting of other signal transmission channels between the power box and the instrument box.

[0106] In some examples, refer to Figure 5 As shown, a second shaft hole (not labeled in the figure) may be provided on the top plate 120 of the power box.

[0107] In some examples, the first shaft hole 121 may be located in the middle of the power box top plate 120. The second shaft hole may be arranged circumferentially around the first shaft hole 121.

[0108] It should be noted that the second shaft hole is arranged circumferentially along the first shaft hole 121, but this does not mean that the second shaft hole needs to be arranged in a circle. In this embodiment, it can mean that the second shaft hole is located around the outline of the first shaft hole 121.

[0109] In some examples, the first shaft hole 121 and the second shaft hole can have the same, similar, or related functions. That is, the power box 100 can be equipped with multiple drive motors 113. Each drive motor 113 can correspond to one shaft hole (either the first shaft hole 121 or the second shaft hole). In this way, the end effector can be driven from multiple degrees of freedom, improving the flexibility of the end effector.

[0110] It is understood that in some examples, the second shaft hole may be located in the middle of the power box top plate 120, and the first shaft hole 121 may be arranged circumferentially around the second shaft hole. In some examples of embodiments of this application, the first shaft hole 121 being located in the middle of the power box top plate 120 is only shown as a specific example.

[0111] In some examples of embodiments of this application, the first shaft hole 121 is located in the middle of the top plate 120 of the power box, and the second shaft holes are arranged circumferentially around the first shaft hole 121. This provides more space around the first shaft hole 121 for arranging the first antenna 111, allowing for an increase in the size of the first antenna 111 and its receiving power, thereby improving the stability and accuracy of reading information stored in the information storage tag 350.

[0112] In some examples, refer to Figure 5 As shown, a first power output disk 122 may be provided in the first shaft hole 121. The first power output disk 122 is rotatably disposed in the first shaft hole 121 along the circumference of the first shaft hole 121.

[0113] In some examples, the first power output disk 122 may be inserted into the first shaft hole 121. The output shaft of the drive motor 113 may be connected to the first power output disk 122 for transmission. That is, the power of the drive motor 113 is transmitted to the first power output disk 122 and output outward through the first power output disk 122.

[0114] In some examples, the first power output disc 122 can be configured to transmit power to the first drive shaft 340. For example, the first drive shaft 340 can be connected to the drive disc 210, and the power transmitted from the first power output disc 122 to the drive disc 210 can be transmitted to the first drive shaft 340 through the drive disc 210.

[0115] In some examples, the first power output disc 122 can be a non-metallic component. This reduces the impact of the first power output disc 122 on signal transmission between the first antenna 111 and the second antenna 351, thereby improving the stability and accuracy of signal transmission between the first antenna 111 and the second antenna 351.

[0116] In some examples, the first power output disc 122 may be a plastic component. For example, the first power output disc 122 may be a rigid plastic component or an engineering plastic component.

[0117] In some examples, a second power output disc 124 may be provided inside the second shaft hole.

[0118] In some examples, the second power output disc 124 can be made of metal. For example, the second power output disc 124 can be made of aluminum alloy, stainless steel, or cast iron.

[0119] In some examples, the second power output disc 124 may be a non-metallic component. For example, the second power output disc 124 may be a rigid plastic component or an engineering plastic component.

[0120] It is understood that in some examples of the embodiments of this application, the material of the second power output disc 124 may be the same as, similar to or similar to that in the related art. The material of the second power output disc 124 is not limited in the embodiments of this application.

[0121] In some examples, refer to Figure 5 As shown, a mounting plate 123 can be provided inside the first shaft hole 121. The first antenna 111 can be provided on the mounting plate 123.

[0122] In some examples, the diameter of the first shaft hole 121 can be larger than the diameter of the second shaft hole. This facilitates the placement of the mounting plate 123 within the first shaft hole 121.

[0123] In some examples of embodiments of this application, a mounting plate 123 is provided in the first shaft hole 121, and the first antenna 111 is mounted on the mounting plate 123, which facilitates the installation and arrangement of the first antenna 111.

[0124] In some examples, refer to Figure 5 As shown, the mounting plate 123 may have a through hole 1231. The through hole 1231 may penetrate both surfaces of the mounting plate along the axial direction.

[0125] In some examples, the first power output disc 122 may be inserted into the through hole 1231.

[0126] In some examples, the diameter of the through hole 1231 can be the same as, similar to, or similar to the diameter of the second shaft hole. Thus, the diameters of the first power output disc 122 and the second power output disc 124 can be the same, similar, or similar. That is, the first power output disc 122 and the second power output disc 124 can be manufactured using the same mold or machining tools, saving on mold-making costs.

[0127] In some examples of embodiments of this application, reference is made to Figure 5 As shown, the first antenna 111 can be located on the side of the mounting plate 123 facing away from the partition.

[0128] In some examples, the first antenna 111 may be embedded in the side of the mounting plate 123 facing away from the isolation plate 200.

[0129] In some examples, the first antenna 111 may be attached to the side of the mounting plate 123 facing away from the isolation plate 200.

[0130] In some examples, to avoid the mounting disk 123 affecting the signal transmission between the first antenna 111 and the second antenna 351, the mounting disk 123 can be a non-metallic component.

[0131] In some examples, the mounting plate 123 can be a plastic part, and should possess high hardness and wear resistance to facilitate the long-term use of the power box 100. For example, the mounting plate 123 can be a rigid plastic part or an engineering plastic part, such as PI, PEEK, etc. It can also be an inorganic or organic non-metallic material, such as alumina ceramic, nylon, etc.

[0132] It is understood that in some examples of the embodiments of this application, the material of the installation disk 123 is only shown as a specific example and is not intended to limit the material of the installation disk 123. For example, in some examples, when the information storage tag 350 is an anti-metal tag and the information reader is an anti-metal reader, the material of the installation disk 123 may also be metal.

[0133] In some examples of embodiments of this application, the first antenna 111 is disposed on the side of the mounting plate 123 facing away from the isolation plate 200. In this way, the first antenna 111 can be isolated from the rotating first power output plate 122 and the transmission plate 210 by the mounting plate 123, thereby preventing the first antenna 111 from being rubbed by the first power output plate 122 and the transmission plate 210, and thus protecting the first antenna 111.

[0134] In addition, by making the mounting plate 123 a non-metallic part, the influence of the mounting plate 123 on the signal transmission between the first antenna 111 and the second antenna 351 can be reduced, thereby improving the stability and accuracy of the signal transmission between the first antenna 111 and the second antenna 351, which in turn improves the stability and accuracy of the information reader in reading the information stored in the information storage tag 350.

[0135] In some examples, refer to Figure 3 , Figure 5 and Figure 6 As shown, a circuit board 114 may be provided inside the power box 100. The circuit board 114 may be located on the side of the top plate 120 of the power box facing the power box 100.

[0136] In some examples, refer to Figure 5 and Figure 6 As shown, a first through hole 1141 may be provided on the circuit board 114. The first through hole 1141 may be coaxial with the first shaft hole 121. The first power output disk 122 may extend into the first through hole 1141. In this way, it is convenient to connect the output shaft of the drive motor 113 with the first power output disk 122 for transmission.

[0137] In some examples, refer to Figure 5 and Figure 6 As shown, a second through hole 1142 may be provided on the circuit board 114. The second through hole 1142 may be coaxial with the second shaft hole. The second power output disk 124 may extend into the second through hole 1142. In this way, it is convenient to connect the output shaft of the drive motor 113 with the second power output disk 124 for transmission.

[0138] In some examples, circuit board 114 may include integrated circuit board 114.

[0139] In some examples, circuit board 114 may include printed circuit board (PCB).

[0140] It is understood that in some examples of embodiments of this application, the specific type of circuit board 114 is only shown as a specific example and is not intended to limit the specific type of circuit board 114.

[0141] In some examples, the information reader may include a reader body (not shown in the figure). The reader body may be located on circuit board 114.

[0142] In some examples, the reader body can be mounted on the circuit board 114 via a surface mount.

[0143] In some examples, the first antenna 111 may be connected to the reader body.

[0144] In some examples, the first antenna 111 can be directly connected to the reader body.

[0145] In some examples, the first antenna 111 can be connected to the reader body via traces on the circuit board 114.

[0146] In some examples of embodiments of this application, a circuit board 114 is provided inside the power box 100. The reader body of the information reader is mounted on the circuit board 114. This facilitates the placement of the reader body and the analysis and processing of the information received by the first antenna 111 by the reader body.

[0147] In some examples, refer to Figures 7-9 As shown, the instrument box 310 may be provided with an instrument box base plate 320. The first drive shaft 340 may pass through the instrument box base plate 320. The first drive shaft 340 can pass through the instrument box 310 and out of the instrument box base plate 320.

[0148] In some examples, refer to Figure 9 The first drive shaft 340 may include a first shaft 341. The first shaft 341 may be configured to transmit power to an end effector.

[0149] In some examples, the first shaft 341 can be a metal shaft. For example, the first shaft 341 can be a shaft made of metal materials such as stainless steel or cast iron.

[0150] In some examples, refer to Figure 9 As shown, the first drive shaft 340 may include a second shaft 342. The second shaft 342 may be mounted on the instrument box bottom plate 320.

[0151] In some examples, the second shaft 342 may be fitted around the outer periphery of the first shaft 341.

[0152] In some examples, the second shaft 342 can be fixedly connected to the first shaft 341 along its circumference. For example, a spline can be provided on the circumferential wall of the first shaft 341, and the second shaft 342 can be fixed to the first shaft 341 circumferentially via the spline. Alternatively, in some examples, after the second shaft 342 is fitted onto the outer circumference of the first shaft 341, the first shaft 341 and the second shaft 342 can be radially locked by pins, screws, or bolts, thereby fixing the first shaft 341 and the second shaft 342 relatively in the circumferential direction.

[0153] In some examples, refer to Figure 10 As shown, the information storage tag 350 can be disposed on the second shaft 342. The second shaft 342 can be a non-metallic part.

[0154] In some examples, the second shaft 342 can be a plastic part. For example, the second shaft 342 can be an injection molded part, a rigid plastic part, or an engineering plastic part.

[0155] In some examples, the second shaft 342 can be driven to the drive plate 210. The first shaft 341 can be connected to the end effector.

[0156] In other words, the power of the drive motor 113 is transmitted to the second shaft 342 through the first power output disk 122 and the transmission disk 210. The second shaft 342 then transmits the power to the end effector through the first shaft 341, thereby driving the end effector to move.

[0157] In some examples of embodiments of this application, a second shaft 342 is fitted around the outer periphery of the first shaft 341, and the second shaft 342 is configured as a non-metallic component. Thus, after the information storage tag 350 is placed on the second shaft 342, the non-metallic second shaft 342 has no impact on the signal transmission between the information storage tag 350 and the first antenna 111, thereby improving the stability and accuracy of signal transmission between the first antenna 111 and the information storage tag 350, and consequently improving the stability and accuracy of reading the information stored in the information storage tag 350.

[0158] In some examples, refer to Figures 8-11 As shown, the second shaft 342 may include a shaft body 3421. The shaft body 3421 may be sleeved on the outer periphery of the first shaft 341.

[0159] In some examples, the shaft body 3421 may be inserted through the instrument box base plate 320 and sleeved around the outer periphery of the first shaft 341.

[0160] In some examples, the second shaft 342 may include a power input disc 3422. (See reference...) Figure 8 and Figure 9 As shown, the power input disc 3422 can be located at the end of the shaft body 3421 away from the first shaft 341.

[0161] In some examples, the power input disc 3422 and the shaft body 3421 can be a single piece. The power input disc 3422 and the shaft body 3421 can be integrally injection molded. The power input disc 3422 and the shaft body 3421 can be two-color injection molded. Alternatively, the power input disc 3422 and the shaft body 3421 can be formed by secondary injection molding. In some examples of embodiments of this application, the molding method of the power input disc 3422 and the shaft body 3421 is not limited.

[0162] In some examples, refer to Figure 9 and Figure 10As shown, the power input plate 3422 can be embedded in the surface of the instrument box bottom plate 320 facing the isolation plate 200.

[0163] In some examples, refer to Figures 8-10 As shown, the instrument box base plate 320 may be provided with a third shaft hole 321. The first drive shaft 340 may pass through the third shaft hole 321.

[0164] In some examples, refer to Figure 9 and Figure 10 As shown, the third shaft hole 321 may include a first hole segment 3211. The first hole segment 3211 may extend through to the surface of the instrument box bottom plate 320 facing the instrument box 310. The shaft body 3421 may pass through the first hole segment 3211.

[0165] In some examples, refer to Figure 9 and Figure 10 As shown, the third shaft hole 321 may include a second hole segment 3212. Along the axial direction of the third shaft hole 321, the second hole segment 3212 may be located on the side of the first hole segment 3211 facing away from the instrument box 310.

[0166] In some examples, the second hole segment 3212 may extend through to the surface of the instrument box base plate 320 facing away from the instrument box 310. The power input disc 3422 may be disposed within the second hole segment 3212.

[0167] In some examples, the diameter of the second bore 3212 can be larger than the diameter of the first bore 3211. Thus, a limiting step 3213 can be constructed at the end of the second bore 3212 facing the first bore 3211. The limiting step 3213 can be configured to limit the axial movement of the first drive shaft 340.

[0168] In some examples, the information storage tag 350 may be located on the power input disk 3422.

[0169] In some examples of embodiments of this application, a power input disk 3422 is provided at the end of the shaft body 3421 of the second shaft 342 away from the first shaft 341, and an information storage tag 350 is disposed on the power input disk 3422. Thus, the sufficient space provided for the information storage tag 350 allows for an increase in the size of the second antenna 351 and an increase in its power; thereby improving the stability and accuracy of signal transmission between the first antenna 111 and the second antenna 351.

[0170] In some examples, refer to Figure 12 As shown, the second antenna 351 can be a ring structure. The second antenna 351 can be sleeved on the shaft body 3421.

[0171] In some examples, the second antenna 351 can be mounted on the power input panel 3422.

[0172] In some examples, the second antenna 351 can be fixedly connected to the second shaft 342 along the circumference of the second shaft 342.

[0173] In some examples, the second cable 351 can be glued to the surface of the power input disc 3422 with adhesive, thereby fixing the second cable 351 to the second shaft 342.

[0174] In some examples of embodiments of this application, the second antenna 351 is configured as a ring structure and fitted around the outer periphery of the shaft body 3421; in this way, the circumferential space of the shaft body 3421 can be fully utilized, the size of the second antenna 351 can be increased, thereby improving the power of the second antenna 351.

[0175] Furthermore, the second antenna 351 is attached to the power input disk 3422 and fixed circumferentially relative to the second shaft 342. Thus, when the second shaft 342 rotates, it drives the second antenna 351 to rotate as well. This ensures that the relative position of the second antenna 351 and the first antenna 111 remains unchanged, thereby ensuring the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0176] In some examples, refer to Figure 11 As shown, a boss 3423 may be provided on the side of the power input disc 3422 facing the shaft body 3421. The boss 3423 and the power input disc 3422 can be an integral part.

[0177] In some examples, the second antenna 351 can be fitted onto the outer periphery of the boss 3423.

[0178] In some examples, the thickness of the boss 3423 along the axial direction of the first shaft 340 can be greater than the thickness of the second antenna 351.

[0179] In some examples, the thickness of the boss 3423 along the axial direction of the first shaft 340 can be equal to the thickness of the second antenna 351.

[0180] In some examples, one of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351 is provided with a recess 3424. The other of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351 is provided with a protrusion 3511. The protrusion 3511 can be fitted into the recess 3424 to limit the relative position of the second antenna 351 and the second shaft 342 along the circumference of the second shaft 342.

[0181] In some examples, the peripheral wall of the boss 3423 may have a recess 3424. The inner wall of the second antenna 351 may have a protrusion 3511.

[0182] In some examples, the peripheral wall of the boss 3423 may have a protrusion 3511. The inner wall of the second antenna 351 may have a recess 3424.

[0183] In some examples of embodiments of this application, a recessed portion 3424 is provided on the peripheral wall of the boss 3423, and a protrusion 3511 is provided on the inner wall of the second antenna 351 as a specific example.

[0184] In some examples of embodiments of this application, a boss 3423 is provided on the side of the power input disk 3422 facing the shaft body 3421, and the second antenna 351 is sleeved on the outer periphery of the boss 3423; a recess 3424 is provided on one of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351, and a protrusion 3511 is provided on the other of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351; thus, the protrusion 3511 can be embedded in the recess 3424, which facilitates the limiting of the position of the second antenna 351 and the second shaft 342 along the circumference of the second shaft 342. In addition, since the recess 3424 is provided on the peripheral wall of the boss 3423, the integrity of the shaft body 3421 can be improved, and the strength of the shaft body 3421 can be ensured.

[0185] In some examples, refer to Figure 10 As shown, a washer 3425 may be fitted around the outer periphery of the shaft body 3421. One end of the washer 3425 may press against at least one of the boss 3423 and the second antenna 351, and the other end of the washer 3425 may abut against the instrument box base plate 320. In some examples, see reference Figure 10 The washer 3425 may be disposed within the first hole section 3211. The washer 3425 may protrude from the limiting step 3213 and extend into the second hole section 3212.

[0186] In some examples, a bearing (not labeled in the figure) is fitted around the outer periphery of the shaft body 3421. The bearing may be located within the first bore section 3211. For example, the outer ring of the bearing may be fixed to the bore wall of the first bore section 3211, and the inner ring of the bearing may be fixed to the peripheral wall of the first drive shaft 340. The other end of the washer 3425 may abut against the bearing.

[0187] In some examples, the washer 3425 can be pressed against the boss 3423. For example, the second antenna 351 can be adhered to the power input disc 3422 with adhesive. In this case, the washer 3425 is pressed against the boss 3423. Since the washer 3425 protrudes from the limiting step 3213, there is a gap between the boss 3423 and the limiting step 3213. That is, there is a certain gap between the second antenna 351 and the fiber step 3213, which eliminates the friction between the limiting step 3213 and the second antenna 351 and protects the second antenna 351.

[0188] In some examples, the washer 3425 can be pressed against the second antenna 351. In this way, the washer can limit the axial movement of the second antenna 351, so that the distance between the second antenna 351 and the first antenna 111 remains essentially unchanged, thereby improving the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0189] In some examples, washer 3425 can be pressed onto both second antenna 351 and boss 3423 simultaneously.

[0190] In some examples, washer 3425 can be a rubber washer.

[0191] In some examples of embodiments of this application, a washer 3425 is fitted around the outer periphery of the shaft body 3421. One end of the washer 3425 presses against the boss 3423 and the second antenna 351, while the other end of the washer 3425 abuts against the instrument box bottom plate 320. Thus, when the second antenna 351 shifts along the axial direction of the shaft body 3421, the washer 3425 can limit the second antenna 351. In other words, by limiting the second antenna 351 along the axial direction of the shaft body 3421, the distance between the second antenna 351 and the first antenna 111 remains essentially constant, improving the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0192] In some examples, refer to Figure 11 As shown, the power input disc 3422 may have a recess 3426. (Refer to...) Figure 12 As shown, the information storage tag 350 may include a storage chip 352. The storage chip 352 may be disposed on the second antenna 351. The storage chip 352 may be accommodated within a recess 3426. In this way, the recess 3426 can protect the storage chip 352. In addition, after the second antenna 351 is installed on the power input plate 3422, it can be ensured that the surface of the second antenna 351 is flat, which facilitates the pressing and limiting of the second antenna 351 by the washer 3425.

[0193] In some examples of embodiments of this application, a surgical robot is also provided. The surgical robot may include a main console.

[0194] In some examples, the surgical robot may include a slave manipulator. The slave manipulator can communicate with the main control console. The physician or operator can input operation signals on the main control console, and the slave manipulator can perform corresponding actions based on the operation signals.

[0195] In some examples, the surgical robot may include the end effector 10 described in detail in the foregoing embodiments of this application. The end effector 10 may be located on a slave arm.

[0196] It is understood that some examples of surgical robots provided in the embodiments of this application have the same or corresponding technical features as the end effector 10 of the surgical robot provided in the foregoing embodiments of this application. Therefore, they have the same or similar technical effects as the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0197] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A surgical instrument, characterized in that, include: Instrument box; An end effector is disposed in the instrument box; A first drive shaft is rotatably mounted on the instrument box, and the first drive shaft is drively connected to at least a portion of the end effector; an information storage tag is provided on the first drive shaft, the information storage tag has a second antenna, and a second antenna is provided on the first drive shaft; The second antenna is configured to communicate with the power box to transmit information stored in the information storage tag to the power box.

2. The surgical instrument according to claim 1, characterized in that, The surgical instrument also includes an instrument case base plate, and the first drive shaft passes through a third shaft hole in the instrument case base plate; the first drive shaft includes: The first shaft is configured to transmit power to the end effector; The second shaft passes through the third shaft hole and is sleeved on the outer periphery of the first shaft. Along the circumference of the first shaft, the second shaft is fixed to the first shaft; the information storage tag is disposed on the second shaft.

3. The surgical instrument according to claim 2, characterized in that, The third shaft hole includes a first hole segment and a second hole segment. Along the axial direction of the third shaft hole, the second hole segment is located on the side of the first hole segment facing away from the instrument box. The diameter of the second hole segment is larger than the diameter of the first hole segment to form a limiting step between the second hole segment and the first hole segment. The second shaft includes: The shaft body is sleeved on the outer periphery of the first shaft, and the shaft body passes through the first hole section; A power input disc is located at the end of the shaft body away from the first shaft; the power input disc is recessed in the second hole section, and the information storage tag is disposed on the power input disc.

4. The surgical instrument according to claim 3, characterized in that, The second antenna is a ring, sleeved on the shaft body, and attached to the power input disk; the second antenna is fixedly connected to the second shaft along its circumference.

5. The surgical instrument according to claim 4, characterized in that, The power input disk has a boss on the side facing the shaft body, and the second antenna is sleeved on the outer periphery of the boss; One of the peripheral wall of the boss and the inner wall of the second antenna is provided with a recess, and the other of the peripheral wall of the boss and the inner wall of the second antenna is provided with a protrusion; the protrusion is embedded in the recess to limit the second antenna and the second shaft along the circumference of the second shaft.

6. The surgical instrument according to claim 5, characterized in that, A washer is fitted around the outer periphery of the shaft body. One end of the washer is pressed against at least one of the boss and the second antenna, and the other end of the washer abuts against the bottom plate of the instrument box.

7. The surgical instrument according to claim 6, characterized in that, The washer is disposed within the first hole segment and extends into the second hole segment, so that there is a gap between the second antenna and the limiting step; And / or, along the axial direction of the second shaft, the thickness of the boss is greater than the thickness of the second antenna, the washer is pressed against the boss, and the second antenna is fixed to the power input disk.

8. The surgical instrument according to any one of claims 3-7, characterized in that, The power input disk has a groove, and the information storage tag includes a storage chip, which is located on the second antenna; the storage chip is accommodated in the groove.

9. The surgical instrument according to any one of claims 2-7, characterized in that, The second shaft is a non-metallic component.

10. A surgical robot end effector, characterized in that, include: A power box has a top plate, and an information reader is provided inside the power box. The information reader has a first antenna, which surrounds a first shaft hole in the top plate of the power box. A first power output disc is provided inside the first shaft hole. An isolation plate is detachably mounted on the power box; The surgical instrument according to any one of claims 1-9 is detachably mounted on an isolation plate, the first drive shaft is connected to the first power output disc for transmission, and the second antenna is connected to the first antenna for communication.

11. The surgical robot end effector according to claim 10, characterized in that, The first power output disc is a non-metallic component; a mounting plate is provided inside the first shaft hole, and the first antenna is disposed on the mounting plate; The mounting plate has a through hole, and the first power output plate passes through the through hole.

12. The surgical robot end effector according to claim 11, characterized in that, The first antenna is located on the side of the mounting plate facing away from the isolation plate, and the mounting plate is a non-metallic component.

13. A surgical robot, characterized in that, include: Main console; The control arm is communicatively connected to the main control console. The end effector according to any one of claims 10-12, wherein the end effector is disposed on the slave arm.

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