Surgical cannula and surgical arm

Abstract

The utility model provides a surgical cannula and a surgical arm. The surgical cannula comprises a cannula body and a clamping part, the clamping part is used for being clamped by a clamping piece of an operation arm; wherein a Hall element is arranged on the operation arm; the clamping part is cylindrical; the diameter of the clamping part is larger than that of the sleeve body, and an annular step surface is formed at the joint of the clamping part and the sleeve body; the step surface is provided with a magnetic ring or not provided with a magnetic ring, and is configured to generate a Hall effect or not with a Hall element on the operation arm so as to provide information about whether the magnetic ring exists or not and / or the type of the magnetic ring to the operation arm. According to the surgical cannula, different types of magnetic rings are correspondingly arranged or not arranged on the step surfaces of different types of surgical cannulas, and based on whether the Hall effect is generated or not and the result of the generated Hall effect, the structure is simplified, the technical difficulty and cost are reduced, and the recognition accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more specifically, to a surgical cannula and surgical arm. 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 smaller surgical trauma, shorter recovery time, and less patient discomfort. Surgical cannulas are typically used during minimally invasive surgery to create openings in the patient's cavity and establish a channel for the entry of endoscopes or other surgical instruments. These cannulas are usually stably fixed to the robotic arm of a surgical robot via a cannula adapter. Because there are many types of surgical cannulas, during the preoperative preparation stage, the doctor or nurse needs to manually insert them into the patient's incision site and then connect them to the robotic arm.

[0003] Currently, one type of sleeve used in the industry mainly includes a metal attachment portion for engaging with a control arm, which protrudes beyond the sleeve body. An identification device consisting of one or more magnets at multiple locations is present at the attachment portion, and the sleeve's identification information corresponds one-to-one with the arrangement of the one or more magnets relative to the multiple locations; for example, each of the multiple locations may either lack a magnet or have a magnet and a combination of magnet field polarities.

[0004] However, in order to automatically identify the type of cannula, multiple magnetic flux readers need to be placed in a very small area, which makes the cannula adapter structure more complex, thereby increasing the technical difficulty and cost, and also affecting the accuracy of identification. Utility Model Content

[0005] The purpose of this application is to provide a surgical cannula and surgical arm that simplifies the structure and reduces technical difficulty and cost. Furthermore, identifying the type of surgical cannula based on the Hall effect improves accuracy.

[0006] In a first aspect, this application provides a surgical cannula, including a cannula body and a clamping part; the clamping part is used for clamping by a clamping member of a surgical arm; wherein, a Hall element is provided on the surgical arm; the clamping part is cylindrical; the diameter of the clamping part is larger than the diameter of the cannula body, and an annular stepped surface is formed at the connection with the cannula body; a magnetic ring is provided on the stepped surface or no magnetic ring is provided, and it is configured to generate a Hall effect or not generate a Hall effect with the Hall element on the surgical arm, so as to provide the surgical arm with information on the presence and / or type of the magnetic ring.

[0007] The aforementioned surgical cannula, by correspondingly setting different types of magnetic rings or omitting magnetic rings on the stepped surfaces of different types of surgical cannulas, and determining the type of surgical cannula by whether or not a Hall effect is generated and the result of the generated Hall effect, simplifies the structure and reduces technical difficulty and cost by requiring only a Hall element on the matching surgical arm. Furthermore, identifying the type of surgical cannula based on the Hall effect results improves accuracy, thereby improving the cost-effectiveness of the surgical cannula. In addition, since the magnetic ring is set on the annular stepped surface of the surgical cannula, and the clamping part of the surgical cannula is cylindrical, the metal attachment part is eliminated, thus avoiding the problem of low clamping stability caused by the offset center of gravity of the surgical cannula.

[0008] In conjunction with the first aspect, optionally, it also includes a cover plate; a receiving groove is provided on the stepped surface; the receiving groove receives the magnetic ring; the cover plate is connected to the stepped surface to cover the receiving groove.

[0009] The aforementioned surgical cannula, by setting a receiving groove on the stepped surface and placing the magnetic ring in the receiving groove, reduces the space occupied by the surgical cannula. Furthermore, by configuring a cover plate to cover the receiving groove, the magnetic ring is positioned and protected, both fixing the magnetic ring to avoid inaccurate results due to the Hall effect caused by changes in its position, and preventing the magnetic ring's magnetism from being affected during the high-temperature sterilization of the cannula.

[0010] In conjunction with the first aspect, optionally, at least two Hall elements are arranged adjacent to each other on the surgical arm; the magnetic ring includes a multi-level radiating magnetic ring.

[0011] The aforementioned surgical cannula, by incorporating at least two Hall elements on the surgical arm and employing multi-level radiating magnetic rings with varying numbers of magnetic poles on different types of surgical cannulas, determines the number of magnetic poles of the magnetic rings based on the Hall effect generated by the magnetic rings and Hall elements, thereby identifying the type of surgical cannula. Since the number of magnetic poles of the multi-level radiating magnetic rings can be diverse, this enhances the ability to identify the type of surgical cannula.

[0012] In conjunction with the first aspect, optionally, the Hall element has a fan-shaped sensing area; the fan-shaped sensing areas of the Hall elements at both ends each have a symmetrical axis; the angle between the openings formed by the symmetrical axes and the Hall element is θ; the magnetic pole segment of the multi-level radiating magnetic ring is arc-shaped, and the angle of the arc is α; θ / 2<α≤θ.

[0013] The aforementioned surgical cannula, due to its cylindrical clamping part, can be held by the surgical arm regardless of the angle at which it rotates about its length axis during clamping. By limiting θ / 2 < α ≤ θ, the Hall effect generated by the magnetic ring and the corresponding Hall element is consistent regardless of the clamping angle, resulting in consistent identification. In other words, the type of surgical cannula can be correctly identified regardless of the clamping angle.

[0014] In conjunction with the first aspect, optionally, the surgical arm is provided with only one Hall element; the magnetic ring includes a single-stage radiating magnetic ring.

[0015] The aforementioned surgical cannula, by setting only one Hall element on the surgical arm and setting different single-stage radiation magnetic rings (or not setting magnetic rings) on different types of surgical cannulas, simplifies the structure of the matching surgical arm while realizing the identification of surgical cannulas through the results of the Hall effect.

[0016] Secondly, this application provides a surgical arm, including a clamping assembly; the clamping assembly includes a clamping member and a support; the support has a connecting portion, the clamping member is connected to the connecting portion and is used to clamp the clamping portion of a surgical cannula; wherein, the clamping portion is provided with a magnetic ring or not provided with a magnetic ring; the connecting portion is provided with a Hall element; the clamping member has a clamping space, the clamping space is adapted to the shape of the clamping portion and is cylindrical; the opening of the fan-shaped sensing area of ​​the Hall element faces the clamping space; the Hall element is configured to generate or not generate a Hall effect with the magnetic ring to identify the presence and / or type of the magnetic ring.

[0017] The aforementioned surgical arm has the same beneficial effects as the first aspect, which will not be elaborated here.

[0018] In conjunction with the second aspect, optionally, a proximity sensor is also provided on the connecting part; the proximity sensor is configured to detect whether the sleeve is present on the bracket.

[0019] The aforementioned surgical arm, by incorporating a proximity sensor on the stent's connection point, enables the detection of whether the clamping assembly is holding the surgical cannula, regardless of whether a magnetic ring is present on the cannula. In other words, by installing a proximity sensor to detect the presence of a cannula on the stent, a magnetic ring can be omitted for certain types of surgical cannulas. This increases the types of surgical cannulas that can be identified. Furthermore, it can also detect whether the surgical cannula is properly engaged (proximity sensors have a limited sensing distance; if the engagement distance is too large, even if a Hall effect is generated by the Hall sensor and the magnetic ring, the proximity sensor will not generate a signal).

[0020] In conjunction with the second aspect, optionally, the magnetic ring includes a multi-level radiating magnetic ring; the magnetic pole section of the multi-level radiating magnetic ring is arc-shaped, and the angle of the arc is α; at least two Hall elements are arranged adjacent to each other on the connecting part; the at least two Hall elements are distributed along the same circumference of the clamping space.

[0021] The aforementioned surgical arm has the same beneficial effects as the first aspect, which will not be elaborated here.

[0022] In conjunction with the second aspect, optionally, the magnetic pole segment of the multi-level radiating magnetic ring is arc-shaped, and the angle of the arc is α; the Hall element has a fan-shaped sensing area; the fan-shaped sensing areas of the Hall elements at both ends each have a symmetrical axis, and the angle between the openings formed by the symmetrical axes and the connecting part is θ; θ / 2<α≤θ.

[0023] The aforementioned surgical arm has the same beneficial effects as the first aspect, which will not be elaborated here.

[0024] In conjunction with the second aspect, optionally, the magnetic ring comprises a single-stage radiating magnetic ring; and the Hall element is only one.

[0025] The aforementioned surgical arm has the same beneficial effects as the first aspect, which will not be elaborated here. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A perspective view of a surgical cannula provided in an embodiment of this application;

[0028] Figure 2 An exploded view of the surgical cannula provided in the embodiments of this application;

[0029] Figure 3 A perspective view of a single-stage radial magnetic ring type A in a surgical cannula provided in an embodiment of this application;

[0030] Figure 4 A perspective view of a single-stage radial magnetic ring type B in a surgical cannula provided in an embodiment of this application;

[0031] Figure 5 A perspective view of a multi-stage radial magnetic ring in a surgical cannula provided in an embodiment of this application;

[0032] Figure 6 A perspective view of the surgical cannula in the clamping state provided in the embodiment of this application;

[0033] Figure 7 A front view of the surgical cannula in the clamped state provided in the embodiment of this application;

[0034] Figure 8 for Figure 7 Sectional view at point AA;

[0035] Figure 9 This is a schematic diagram of a first layout of the Hall element in the clamping member provided in the embodiments of this application;

[0036] Figure 10 This is a schematic diagram of a second layout of the Hall element in the clamping member provided in an embodiment of this application;

[0037] Figure 11 A perspective view of the surgical arm provided in the embodiments of this application;

[0038] Figure 12 A schematic diagram of a surgical instrument provided in an embodiment of this application;

[0039] Figure 13 A first flowchart of a method for detecting surgical cannulas provided in an embodiment of this application;

[0040] Figure 14 A flowchart of step S160 in the method for detecting surgical cannulas provided in the embodiments of this application;

[0041] Figure 15 This is a second flowchart of a method for detecting surgical cannulas provided in an embodiment of this application.

[0042] Icons: 100, Surgical cannula; 110, Cannula body; 120, Clamping part; 130, Annular stepped surface; 131, Receiving groove; 140, Magnetic ring; 150, Cover plate; 200, Surgical arm; 210, Clamping assembly; 211, Clamping element; 212, Support; 2121, Connecting part; 2122, Slide; 2123, Power box; 2124, Hall element; 220, Robotic arm; 221, Movable joint; 300, Surgical instrument; 310, Actuator; 320, Slender tube; 330, Instrument box. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0048] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] This specification contains numerous specific technical details to enable those skilled in the art to understand the complete technical solution. However, it should be understood that embodiments of this application can be implemented without these specific technical details. Such detailed descriptions of technical details should not be considered as limitations on this application, and the scope of protection of this application is defined only by the claims. Elsewhere, well-known structures, connections / positional relationships, circuits, and / or other details may not be shown in detail to avoid misleading the public about the essential aspects of this utility model.

[0050] This specification includes accompanying drawings illustrating several embodiments of the present application. However, the drawings are merely illustrative, and it should be understood that variations in mechanical structure, connection / positional relationships, physical composition, electrical aspects, and procedures can be made without departing from the spirit and scope of the present application. Such variations may involve substitution or combination of elements from the embodiments of the present application, or substitution or combination of known content.

[0051] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. Spatial relative terms, such as “below,” “lower,” “above,” “upper,” “middle,” “center,” “inner,” “outer,” “central,” “edge,” etc., are used for ease of description to describe the relationship between one component or feature shown in the figures and another component or feature. It should be understood that spatial relative terms are used only under the orientation of the device in use or operation (other than the orientation specifically defined in the figures) and are not necessarily unique or constant. For example, if the device in the figures is rotated 180° up and down along the plane of the paper, then an element described as “below” other components or features will become “above” other components or features. Therefore, the exemplary term “below” can encompass both above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (e.g., rotated 90° or positioned in other directions), and the spatial relative descriptive terms used herein will be interpreted accordingly.

[0052] As used herein, “several,” “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 said 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.

[0053] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "part," "module," "assembly," and "element" are used interchangeably.

[0054] 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, generally including end effectors. End effectors can be surgical tools associated with one or more surgical procedures, 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 “wrist joints” or “articular seats”) for the surgical tool, allowing the position and / or orientation of the end effector to be flexibly 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 blades that translate along a specific 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.

[0055] The term "mate" (sometimes referred to as "connection," "linkage," "installation," or "assembly") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in combination with each other. It should be noted that a mating 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 mated" can be interpreted as implying a non-permanent connection or mating situation between two or more objects. This means that detachably connected objects can be unconnected and separated, allowing them to operate without being joined.

[0056] 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.

[0057] The following is an overview of the master-slave teleoperated laparoscopic surgical robot:

[0058] 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 (sometimes called an "endoscope") placed inside the patient's body. The surgeon also controls the movement of the robotic arm on the patient operating platform, as well as the surgical instruments or endoscopes attached to that arm. The robotic arm essentially simulates a human arm, and the surgical instruments simulate a human hand. Both provide the surgeon with a series of movements that mimic the human wrist, while also filtering out hand tremors. Therefore, they are increasingly widely used in surgery, particularly in abdominal, thoracic, and general surgery.

[0059] A patient surgical platform typically includes a chassis, a column, multiple 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 coupled 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. Various forms of control are possible 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 where the surgical instrument enters the body wall and is generally referred to as the "discent point" or "fixed point."

[0060] 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, optics are included to transmit images from inside 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 observation by other doctors or assistants.

[0061] A surgeon's control platform typically includes a chassis, foot pedal assembly, stereoscopic monitor, main control arm, and manual controllers connected to the end of the main control arm. The surgeon controls the manual controllers and foot pedal assembly to achieve specific movements and / or energy activation of surgical instruments. The surgeon's control platform can be located at a single position within a surgical system composed of laparoscopic surgical robots, or it can be distributed across two or more positions within the system. Remote master / slave operation can be performed according to a preset level of control; for example, one position acts as the master controller for the main surgical operation, and another position acts as the auxiliary controller for an assistant operation. The master controller performs the main surgical operations, while the auxiliary controller performs auxiliary operations such as laparoscopic movement or tissue traction. In some embodiments, the manual controller can be an input device capable of performing one or more manual operations, such as a joystick, exoskeleton glove, power and gravity-compensated manipulator, etc. These input devices acquire the surgeon's operation signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulators. These signals control the remote-controlled motors on the surgical instrument manipulators, which in turn control the final movement of the surgical instruments.

[0062] 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 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 manipulation, remote control, and telepresence surgery will understand such a system and its components, which will not be described in detail here.

[0063] Please refer to Figure 1 and Figure 2 . Figure 1 This is a perspective view of the surgical cannula 100 provided in the embodiments of this application; Figure 2 This is an exploded view of the surgical cannula 100 provided in this application embodiment. The surgical cannula 100 provided in this application embodiment may include a cannula body 110 and a clamping part 120. The clamping part 120 can be used for clamping by the clamping member 211 of the surgical arm 200. A Hall element 2124 may be provided on the surgical arm 200. The clamping part 120 may be cylindrical. The diameter of the clamping part 120 may be larger than the diameter of the cannula body 110, and an annular stepped surface 130 may be formed at the connection with the cannula body 110. A magnetic ring 140 may or may not be provided on the stepped surface, and it may be configured to generate a Hall effect or not generate a Hall effect with the Hall element 2124 on the surgical arm 200, so as to provide the surgical arm 200 with information on the presence and / or type of the magnetic ring 140.

[0064] like Figures 3 to 5As shown, the magnetization method of the magnetic ring 140 can be divided into three types: single-stage radial magnetic ring 140A (inner ring is the S pole and outer ring is the N pole), single-stage radial magnetic ring 140B (inner ring is the N pole and outer ring is the S pole), and multi-stage radial magnetic ring 140. When the surgical cannula 100 is held by the clamping member 211 of the surgical arm 200, the type of surgical cannula 100 can be determined based on the Hall effect generated between the magnetic ring 140 and the Hall element 2124. For example, type A surgical cannula 100 is provided with type A single-stage radial magnetic ring 140, type B surgical cannula 100 is provided with type B single-stage radial magnetic ring 140, type C surgical cannula 100 is provided with multi-stage radial magnetic ring 140, and type D surgical cannula 100 is not provided with magnetic ring 140. If no Hall effect is detected when the surgical cannula 100 is clamped, then the surgical cannula 100 can be classified as type A. If a Hall effect is detected, then the type of the magnetic ring 140 can be determined based on the Hall effect results, thereby further determining the type of the surgical cannula 100, as detailed below.

[0065] Of course, the type information of the magnetic ring 140 may also include the number of magnetic pole segments of the multi-stage radiating magnetic ring 140 and the magnetic field strength of the single-stage radiating magnetic ring 140.

[0066] In the above implementation process, by setting different types of magnetic rings 140 or not setting magnetic rings 140 on the stepped surfaces of different types of surgical cannulas 100, and determining whether the surgical cannulas 100 has magnetic rings 140 and the type of magnetic rings 140 based on whether a Hall effect is generated and the result of the generated Hall effect, the type of surgical cannulas 100 is determined. This simplifies the structure and reduces the technical difficulty and cost by only setting Hall element 2124 on the matching surgical arm 200. Furthermore, the identification of the type of surgical cannulas 100 based on the Hall effect also improves the accuracy. This improves the cost-effectiveness of the surgical cannulas 100. In addition, since the magnetic rings 140 are set on the annular stepped surface 130 of the surgical cannulas 100, and the clamping part 120 of the surgical cannulas 100 is cylindrical, the attachment part is eliminated, thereby avoiding the problem of low clamping stability caused by the offset of the center of gravity of the surgical cannulas 100.

[0067] Please continue to refer to Figure 2 In some optional embodiments, the surgical cannula 100 provided in this application embodiment may further include a cover plate 150. A receiving groove 131 may be provided on the stepped surface. The receiving groove 131 receives the magnetic ring 140. The cover plate 150 may be connected to the stepped surface to cover the receiving groove 131.

[0068] The connection between the cover plate 150 and the step surface can be achieved through welding, snap-fitting, or bonding. It should be noted that regardless of the connection method, since the sleeve is used multiple times and requires sterilization (usually with high-temperature steam), it must meet the requirements for high-temperature resistance and sealing.

[0069] In the above implementation process, by setting a receiving groove 131 on the stepped surface and placing the magnetic ring 140 in the receiving groove 131, the space occupied by the surgical cannula 100 is reduced. Furthermore, by configuring a cover plate 150 to cover the receiving groove 131, the magnetic ring is positioned and protected, which not only fixes the magnetic ring to avoid inaccurate Hall effect results caused by its position change, but also avoids the influence of high-temperature sterilization of the cannula on the magnetism of the magnetic ring.

[0070] Please refer to Figures 6 to 9 , Figure 6 This is a perspective view of the surgical cannula 100 provided in the embodiments of this application being held by the clamping member 211 in a clamping state; Figure 7 This is a front view of the surgical cannula 100 provided in this application embodiment, held in the clamping state by the clamping member 211; Figure 8 yes Figure 7 Sectional view at point AA; Figure 9 This is a schematic diagram of a first layout of the Hall element 2124 in the clamping member 211 provided in this application embodiment. In some optional embodiments, at least two Hall elements 2124 may be arranged adjacently on the surgical arm 200. The magnetic ring 140 may include a multi-level radiating magnetic ring 140.

[0071] In a preferred embodiment, the number of Hall elements 2124 can be three.

[0072] As a specific implementation method, different types of surgical cannulas 100 can be provided with multi-level radial magnetic rings 140 with different numbers of magnetic poles. When the surgical cannulas 100 is clamped, the number of magnetic poles of the multi-level radial magnetic rings 140 can be determined based on the Hall effect between the multi-level radial magnetic rings 140 and the multiple Hall elements 2124, thereby determining the type of surgical cannulas 100. The specific determination method is described later.

[0073] In the above implementation process, at least two Hall elements 2124 are set on the surgical arm 200, and multi-level radiating magnetic rings 140 with different numbers of magnetic poles are set on different types of surgical cannulas 100. The number of magnetic poles of the magnetic ring 140 is determined based on the Hall effect generated by the magnetic ring 140 and the multiple Hall elements 2124, thereby determining the type of surgical cannulas 100. Since the number of magnetic poles of the multi-level radiating magnetic ring 140 can be multiple, the type of surgical cannulas 100 can be identified.

[0074] Please continue to refer to Figure 8and Figure 9 In some alternative embodiments, the Hall element 2124 may have a fan-shaped sensing region. The fan-shaped sensing regions of the Hall element 2124 at both ends may each have an axis of symmetry. The angle between the opening formed by the axis of symmetry and the Hall element 2124 may be θ. The magnetic pole segment of the multi-stage radiating magnetic ring 140 may be arc-shaped, and the angle of the arc may be α, where θ / 2 < α ≤ θ.

[0075] In the above implementation process, since the clamping part 120 of the surgical cannula 100 is cylindrical, it can be clamped by the surgical arm 200 even when the surgical cannula rotates at any angle around its own length direction. By limiting θ / 2 < α ≤ θ, the Hall effect generated by the magnetic ring 140 and the corresponding Hall element 2124 is consistent regardless of the angle at which the surgical cannula is clamped, thus ensuring consistent identification results. That is, the type of the surgical cannula 100 can be correctly identified regardless of the angle at which it is clamped.

[0076] Please refer to Figure 10 , Figure 10 This is a schematic diagram of a second layout of the Hall element 2124 in the clamping member 211 provided in this application embodiment. In some optional embodiments, only one Hall element 2124 may be provided on the surgical arm 200. The magnetic ring 140 may include a single-stage radiating magnetic ring 140.

[0077] Specifically, in this embodiment, a type A surgical cannula 100 is provided with a type A monopolar radiating magnetic ring 140, a type B surgical cannula 100 is provided with a type B monopolar radiating magnetic ring 140, and a type C surgical cannula 100 is not provided with a magnetic ring 140. When the surgical cannula 100 is clamped, the magnetic pole direction of the monopolar radiating magnetic ring 140 (type A or type B monopolar radiating magnetic ring 140) is determined based on whether it generates a Hall effect with the Hall element 2124 and the result of the generated Hall effect. This determines the type of surgical cannula 100.

[0078] In a further embodiment of this application, a type A single-stage radiating magnetic ring 140 or a type B single-stage radiating magnetic ring 140 with different magnetic field strengths can be provided on different types of surgical cannulas 100 (a magnetic field strength of 0 is equivalent to not providing a magnetic ring 140). For example, a single-stage radiating magnetic ring 140 with a surface magnetic flux of A×(100±10)% can be provided on a type A surgical cannulas 100, a single-stage radiating magnetic ring 140 with a surface magnetic flux of A×(70±10)% can be provided on a type B surgical cannulas 100, and a single-stage radiating magnetic ring 140 with a surface magnetic flux of A×(40±10)% can be provided on a type C surgical cannulas 100. When the surgical cannulas 100 is clamped, the magnetic flux (or magnetic field strength) of the magnetic ring 140 can be determined based on the Hall effect generated by the cannulas and Hall element 2124, thereby determining the type of surgical cannulas 100.

[0079] In the above implementation process, by setting only one Hall element 2124 on the surgical arm 200 and setting different single-stage radiation magnetic rings 140 (or not setting magnetic rings 140) on different types of surgical cannulas 100, the structure of the matching surgical arm 200 is simplified on the basis of identifying the surgical cannulas 100 through the Hall effect.

[0080] Please refer to Figure 11 , Figure 11 This is a perspective view of the surgical arm 200 provided in an embodiment of this application. Based on the same concept, an embodiment of this application provides a surgical arm 200 that may include a clamping assembly 210. The clamping assembly 210 may include a clamping member 211 and a support 212. The support 212 may have a connecting portion 2121, the clamping member 211 is connected to the connecting portion 2121, and can be used to clamp the clamping portion 120 of the surgical cannula 100. The clamping portion 120 may or may not have a magnetic ring 140. The connecting portion 2121 may have a Hall element 2124. The clamping member 211 may have a clamping space that is adapted to the shape of the clamping portion 120 and is cylindrical. The opening of the fan-shaped sensing area of ​​the Hall element 2124 faces the clamping space. The Hall element 2124 may be configured to generate or not generate a Hall effect with the magnetic ring 140 to identify the presence and / or type of the magnetic ring 140.

[0081] The clamping member 211 can be a gripper, and the support 212 can be a robotic arm 220 with multiple movable joints 221. A slide 2122 can also be provided on the connecting part 2121, and a power box 2123 is slidably provided on the slide 2122. The power box 2123 can be used to fix the tail end of the surgical instrument, and the extension and retraction of the surgical instrument is controlled by the sliding of the power box 2123 on the slide 2122.

[0082] Other explanations and specific implementation methods of the embodiments in this application can be the same as those described above, and will not be repeated here.

[0083] The above implementation process is the same as that of the surgical cannula 100 described above, and will not be repeated here.

[0084] In some alternative embodiments, a proximity sensor (not shown) may also be provided on the connection portion 2121. The proximity sensor may be configured to detect whether a sleeve is present on the bracket 212.

[0085] Proximity sensors can be inductive proximity switches, capacitive proximity switches, or photoelectric proximity switches, etc.

[0086] In the above implementation, by setting a proximity sensor on the connecting portion 2121 of the stent 212, it is possible to detect whether the clamping assembly 210 is clamping the surgical cannula 100, regardless of whether the surgical cannula 100 is equipped with a magnetic ring 140. That is, after setting a proximity sensor for detecting the presence of a cannula on the stent 212, it is possible to avoid setting a magnetic ring 140 on a certain type of surgical cannula 100. This increases the types of surgical cannulas that can be identified. Furthermore, it is also possible to detect whether the surgical cannula 100 has been successfully engaged.

[0087] Please continue to refer to Figure 8 and Figure 9 In some alternative embodiments, the magnetic ring 140 may include a multi-stage radiating magnetic ring 140. The magnetic pole segments of the multi-stage radiating magnetic ring 140 are arc-shaped, with an angle of α. At least two Hall elements 2124 may be disposed adjacently on the connecting portion 2121. The at least two Hall elements 2124 are distributed along the same circumference of the clamping space.

[0088] The above implementation process is the same as that of the surgical cannula 100 described above, and will not be repeated here.

[0089] Referring to the figure, in some optional embodiments, the magnetic pole segments of the multi-stage radiating magnetic ring 140 are arc-shaped, with an angle of α. The Hall element 2124 may have a fan-shaped sensing area. The fan-shaped sensing areas of the Hall elements 2124 located at both ends may each have an axis of symmetry, and the angle between the openings formed by the axes of symmetry and the connecting portion 2121 is θ. θ / 2<α≤θ.

[0090] The above implementation process is the same as that of the surgical cannula 100 described above, and will not be repeated here.

[0091] Please continue to refer to Figure 10 In some alternative implementations, the magnetic ring 140 may include a single-stage radiating magnetic ring 140. There may be only one Hall element 2124.

[0092] The above implementation process is the same as that of the surgical cannula 100 described above, and will not be repeated here.

[0093] Please refer to Figure 13 , Figure 13 This is a first flowchart of a method for detecting surgical cannulas provided in this application. Based on the same concept, this application provides a method for detecting surgical cannulas, which should be used to detect cannulas on a surgical arm. The surgical arm may be equipped with a Hall element, and the cannulas may or may not have a magnetic ring. The surgical arm can be used to hold the cannulas and drive the extension and retraction of surgical instruments.

[0094] The method may include:

[0095] Step S120: After detecting the presence of a cannula on the surgical arm, receive the first detection information of the magnetic ring from the Hall element.

[0096] Based on the previous description of the surgical cannula, this is further explained here in conjunction with Table 1.

[0097] Table 1

[0098]

[0099] In Example 1, three Hall sensors can be installed on the surgical arm, and multi-stage radiating magnetic rings with different numbers of magnetic poles can be installed on the three different types of sheaths. The type of sheath can be determined based on the voltage signal emitted by the Hall sensors. Examples 2 and 3 use only one Hall sensor on the surgical arm, and different types of single-stage radiating magnetic rings can be installed on the three different types of sheaths. Similarly, the type of sheath can be determined based on the voltage signal emitted by the Hall sensor. The specific correspondence between voltage signal characteristics and sheath types is shown in Table 1. This correspondence can be built into the controller of the surgical robot as a judgment condition. Those skilled in the art will know how to do this, and it will not be elaborated here.

[0100] Step S140: Identify the type of sheath based on the correspondence between the first detection information and the sheath type.

[0101] Step S160: Based on the type of cannula and the type of surgical instrument, detect the distance between the actuating end of the surgical instrument and the end of the cannula.

[0102] In step S160 above, surgical instruments typically pass through the cannula via a channel within the cannula. The actuating end of the surgical instrument can be a multi-degree-of-freedom mechanism such as a surgical forceps, electric scissors, or an electric hook. If the surgical instrument retracts excessively, and its actuating end happens to be in a bent, non-linear state (which is the most common state during surgery), it will come into contact with and collide with the end of the cannula, thereby damaging the actuating end of the surgical instrument. Furthermore, during the removal of the surgical instrument, improper operation by the operator (pulling the instrument directly while it is bent at the wrist) or excessively rapid removal speed can increase the risk of damage from collision or friction between the wrist or tip of the surgical instrument and the end of the cannula.

[0103] For example, please refer to Figure 12 , Figure 12 This is a schematic diagram of a surgical instrument 300 provided in an embodiment of this application. The surgical instrument 300 includes an instrument housing 330, an elongated tube 320, and an actuating end 310. Generally, the actuating end 310 can move with multiple degrees of freedom relative to the elongated tube 320, that is, the actuating end 310 can be in a bent state. In the bent state, its radial dimension in the elongated tube 320 is much larger than the inner diameter of the distal end of the surgical cannula 100. Therefore, when the actuating end 310 retracts and approaches the end of the surgical cannula 100, it will come into contact with and collide with the end of the surgical cannula 100.

[0104] Therefore, it is necessary to calculate the distance between the surgical instrument's actuating end and the end of the cannula to ensure that the actuating end 310 of the surgical instrument 300 is not damaged.

[0105] In the above implementation process, after identifying the type of surgical cannula based on the Hall effect, the distance between the actuator end of the surgical instrument and the end end of the cannula is calculated based on the type of surgical cannula and the posture information of the surgical instruments. This is to avoid excessive retraction of the surgical instrument and collision with the end end of the cannula, thus protecting the surgical instruments.

[0106] Please refer to Figure 14 , Figure 14 This is a flowchart of step S160 in the detection method for surgical cannulas provided in this application embodiment. In some optional embodiments, the magnetic ring may include a multi-stage radial magnetic ring, and the first detection information may include the number of magnetic poles of the magnetic ring. And / or the magnetic ring may include a single-stage radial magnetic ring, and the first detection information may include the presence of the magnetic ring and / or the magnetization direction of the magnetic ring. And / or the magnetic ring may include a single-stage radial magnetic ring, and the first detection information may include the magnetic field strength of the magnetic ring.

[0107] In the above implementation process, the specific implementation methods for determining the cannula type based on the number of magnetic poles, magnetization direction, and magnetic field strength can be the same as those for surgical cannulas described above, and will not be repeated here.

[0108] Referring to the figure, in some optional embodiments, step S160 may include:

[0109] Step S161: Determine the length of the sleeve according to the type of sleeve.

[0110] In step S161 above, the length and type of the sleeve can be pre-stored in the form of a mapping table.

[0111] Step S162: Determine whether the engagement of the surgical instruments is complete.

[0112] If it is determined that the engagement of the surgical instrument has not been completed, then step S163 is executed: output a first prompt message. The first prompt message can be used to prompt the user to engage the surgical instrument.

[0113] In step S163 above, for example, the first prompt message may be a prompt such as "Please connect the surgical instruments." Alternatively, it may be a specific prompt audio, prompt light, or voice.

[0114] If it is determined that the surgical arm has successfully engaged the surgical instrument, then step S164 is executed: calculate the distance between the execution end of the surgical instrument and the end of the cannula based on the length of the cannula and the type of surgical instrument.

[0115] In step S164 above, please refer to the following: Figure 11 The specific calculation method can be to determine the length of the cannula based on the type of cannula, and the length of the surgical instrument based on the type of surgical instrument. The type information of the surgical instrument can include the position of the power box that fixes the surgical instrument on the carriage. Based on this information, the distance between the execution end of the surgical instrument and the end of the cannula can be calculated.

[0116] In the above implementation process, the distance between the execution end of the surgical instrument and the end of the cannula is calculated based on the length of the cannula and the posture information of the surgical instrument, thus realizing a relatively simple algorithm to calculate this distance.

[0117] Referring to the figure, in some optional embodiments, after step S164, the method for detecting surgical cannulas provided in this application embodiment may further include:

[0118] Step S165: Determine whether the distance between the execution end of the surgical instrument and the end of the cannula is less than the distance threshold.

[0119] If it is determined that the distance between the joint of the surgical instrument and the end of the cannula is less than a distance threshold, then step S166 is executed: output a second prompt message. This second prompt message can be used to alert the user that a collision may occur between the actuator and the cannula.

[0120] In step S166 above, for example, the second prompt information can be auditory, such as a prompt like, "Please note: the distance between the actuator and the end of the cannula is too close!" or other audio prompts. The second prompt information can also be visual, such as graphics or text on a monitor screen, or indicator lights on the surgical arm. The second prompt information can also be tactile, such as increasing resistance or damping during the retraction of the surgical instrument.

[0121] In the above implementation process, when the distance between the joint of the surgical instrument and the end of the cannula is less than a distance threshold, a second warning message is output to remind the user that the actuator may collide with the cannula, thereby further reducing the risk of collision between the actuator and the cannula.

[0122] Please refer to Figure 15 , Figure 15 This is a second flowchart of the detection method for surgical cannulas provided in this application embodiment. In some optional embodiments, a proximity sensor may also be provided on the surgical arm.

[0123] Accordingly, prior to step S120, the method for detecting surgical cannulas provided in this application embodiment may further include:

[0124] Step S110: Receive second detection information from the proximity sensor, the second detection information indicating whether the cannula is located on the surgical arm.

[0125] In the above implementation process, the success of automated surgery is further ensured by detecting whether the surgical cannula is located on the surgical arm based on a proximity sensor.

[0126] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A surgical cannula, characterised in that, The sleeve body and the clamping part are included; The clamping part is used for clamping the clamping piece of the surgical arm; wherein, the surgical arm is provided with a Hall element; The clamping part is cylindrical; The diameter of the clamping part is larger than that of the sleeve body, and an annular step surface is formed at the connection between the clamping part and the sleeve body; The step surface is provided with a magnetic ring or without a magnetic ring, and is configured to generate or not generate Hall effect with the Hall element on the surgical arm, so as to provide information of whether the magnetic ring exists and / or the type of the magnetic ring to the surgical arm.

2. A surgical cannula according to claim 1, characterised in that, Further including a cover plate; The step surface is provided with a containing groove; The containing groove contains the magnetic ring; The cover plate is connected with the step surface to cover the containing groove.

3. The surgical cannula of claim 1, wherein, Wherein, At least two Hall elements are provided adjacent to each other on the surgical arm; The magnetic ring includes a multi-stage radiation magnetic ring.

4. A surgical cannula according to claim 3, characterised in that, Wherein, The Hall element has a sector-shaped induction area; the sector-shaped induction areas of the Hall elements at both ends have symmetry axes respectively; the opening formed by the symmetry axes is directed at an angle of θ to the Hall element; The magnetic pole segment of the multi-stage radiation magnetic ring is in the shape of a circular arc, and the angle of the circular arc is α; θ / 2 < α ≤ θ.

5. The surgical cannula according to claim 1, wherein, Wherein, Only one Hall element is provided on the surgical arm; The magnetic ring includes a single-stage radiation magnetic ring.

6. A surgical arm characterized by, The clamping assembly is included; The clamping assembly includes a clamping piece and a support; The support has a connecting part, and the clamping piece is connected with the connecting part and used for clamping the clamping part of the surgical sleeve; wherein, the clamping part is provided with a magnetic ring or without a magnetic ring; The connecting part is provided with a Hall element; The clamping piece has a clamping space, which is cylindrical and matched with the shape of the clamping part; The opening of the sector-shaped induction area of the Hall element is directed to the clamping space; The Hall element is configured to generate or not generate Hall effect with the magnetic ring, so as to identify whether the magnetic ring exists and / or the type of the magnetic ring.

7. A surgical arm according to claim 6, wherein, The connecting part is further provided with a proximity sensor; The proximity sensor is configured to detect whether the sleeve exists on the support.

8. A surgical arm according to claim 6, wherein, Wherein, The magnetic ring includes a multi-stage radiation magnetic ring; the magnetic pole segment of the multi-stage radiation magnetic ring is in the shape of a circular arc, and the angle of the circular arc is α; At least two Hall elements are provided adjacent to each other on the connecting part; At least two Hall elements are distributed along the same circumference of the clamping space.

9. A surgical arm according to claim 8, wherein, Wherein, The magnetic pole segment of the multi-stage radiation magnetic ring is in the shape of a circular arc, and the angle of the circular arc is α; The Hall element has a sector-shaped induction area; The sector-shaped induction areas of the Hall elements at both ends have symmetry axes respectively, and the opening formed by the symmetry axes is directed at an angle of θ to the connecting part; θ / 2 < α ≤ θ.

10. The surgical arm of claim 6, wherein, The magnetic ring includes a single-stage radiation magnetic ring; There is only one Hall element.

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