Surgical robot and surgical equipment

Abstract

The embodiment of the utility model provides a surgical robot and surgical equipment. The surgical robot comprises a trolley, a mechanical arm assembly and a pedal assembly. The trolley is provided with a position switch interface and a positioning switch interface; the first end of the mechanical arm assembly is connected with the trolley, and the second end is a free end. A power source of the mechanical arm assembly is connected with the trolley; the pedal assembly comprises a first pedal assembly and a second pedal assembly; the first pedal assembly is connected with the position switch interface, and the second pedal assembly is connected with the positioning switch interface; when the first pedal assembly is stepped down, the second end of the mechanical arm assembly can move from the first position to the second position at a first speed under the action of external force; when the second pedal assembly is stepped down, the second end of the mechanical arm assembly can move to the preset position from the first position or the second position at a second speed; the first speed is greater than the second speed. In the positioning process, manual operation is replaced by foot operation, so that the operation of the surgical robot is more convenient.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a surgical robot and surgical equipment. Background Technology

[0002] Surgical robots play a vital role in improving surgical precision and safety. The end effector of a surgical robot is used to attach instruments such as scalpels. During surgery, medical staff can perform subsequent operations after the end effector of the surgical robot has completed its positioning, thereby ensuring the accuracy of the intervention location.

[0003] In related technologies, surgical robots rely entirely on manual operation by medical staff for end-effector positioning. This means that during surgery, if medical staff want to operate the surgical robot, they must first pause their own operations and continue their previous operations after finishing operating the surgical robot. This is very inconvenient and affects the progress of the surgery. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a surgical robot and surgical equipment to improve the ease of operation of the surgical robot, thereby accelerating the surgical process. The specific technical solution is as follows:

[0005] An embodiment of the first aspect of this application provides a surgical robot, which includes a trolley, a robotic arm assembly, and a foot pedal assembly. The trolley has a position switch interface and a positioning switch interface. A first end of the robotic arm assembly is connected to the trolley, and a second end is a free end. A power source for the robotic arm assembly is connected to the trolley. The foot pedal assembly includes a first foot pedal assembly and a second foot pedal assembly. The first foot pedal assembly is connected to the position switch interface, and the second foot pedal assembly is connected to the positioning switch interface. When the first foot pedal assembly is depressed, the second end of the robotic arm assembly can move from a first position to a second position at a first speed under the action of an external force. When the second foot pedal assembly is depressed, the second end of the robotic arm assembly can move from the first position or the second position to a preset position at a second speed. The first speed is greater than the second speed.

[0006] In some embodiments of this application, the trolley includes:

[0007] The controller has the position switch interface and the positioning switch interface;

[0008] An electrical interface panel is exposed on the outside of the trolley and has a first terminal and a second terminal. The first terminal is connected to the position switch interface and is connected to the first foot pedal assembly via a cable. The second terminal is connected to the positioning switch interface and is connected to the second foot pedal assembly via a cable.

[0009] In some embodiments of this application, the foot pedal assembly includes: a transmitter; the transmitter having a first signal terminal and a second signal terminal; the first signal terminal being connected to the first foot pedal assembly; and the second signal terminal being connected to the second foot pedal assembly.

[0010] The trolley includes: a controller and a receiver; the controller has the position switch interface and the positioning switch interface; the receiver has a third signal terminal and a fourth signal terminal; the third signal terminal is connected to the position switch interface; and the fourth signal terminal is connected to the positioning switch interface.

[0011] In some embodiments of this application, the trolley further includes: an electrical interface panel;

[0012] The electrical interface panel is exposed on the outside of the trolley and has a first terminal and a second terminal. The first terminal is connected to the position switch interface and the third signal terminal, respectively. The second terminal is connected to the positioning switch interface and the fourth signal terminal, respectively.

[0013] In some embodiments of this application, the robotic arm assembly includes:

[0014] A robotic arm, the first end of which is connected to the trolley;

[0015] An end effector is disposed at the second end of the robotic arm; it includes an actuator body and a mounting portion; the actuator body is connected to the second end of the robotic arm; the mounting portion is disposed on the side of the actuator body away from the robotic arm, and the side of the mounting portion away from the actuator body has a first mounting channel; the actuator body has a control circuit board and multiple buttons, the multiple buttons being electrically connected to the control circuit board for controlling the movement of the robotic arm.

[0016] In some embodiments of this application, the actuator body also has a position status indicator light;

[0017] The position status indicator light is exposed on the outside of the actuator body and is electrically connected to the control circuit board.

[0018] In some embodiments of this application, the trolley includes: a housing and rollers; the housing has an internal accommodating space; the front of the housing has a window communicating with the interior and exterior of the housing; the rollers are disposed at the bottom of the housing;

[0019] The controller is disposed within the housing's accommodating space;

[0020] The electrical interface panel is at least partially disposed within the housing space; the first terminal and the second terminal are exposed to the outside of the housing through the window.

[0021] In some embodiments of this application, when the first foot pedal assembly is stepped on, the second end of the robotic arm assembly can also adjust its posture under the action of external force.

[0022] In some embodiments of this application, the foot pedal assembly further includes: a foot pedal base;

[0023] The first foot pedal assembly and the second foot pedal assembly are arranged side by side and spaced apart on the foot pedal base.

[0024] An embodiment of the second aspect of this application provides a surgical device comprising a navigation carriage, an operating carriage, and a surgical robot according to any embodiment of the first aspect; the navigation carriage includes a first display and an infrared optical camera; the operating carriage includes a second display; the robotic arm assembly of the surgical robot includes a robotic arm, an end effector, and a tracker; a first end of the robotic arm is connected to the carriage; the end effector is connected to a second end of the robotic arm; the end effector has a first mounting channel; and the tracker is disposed on the side of the end effector away from the robotic arm.

[0025] Beneficial effects:

[0026] The surgical robot of this embodiment includes a trolley, a robotic arm assembly, and a foot pedal assembly. The first end of the robotic arm assembly is connected to the trolley, and the second end (extremity) is a free end used to mount surgical instruments such as scalpels. The power source of the robotic arm assembly is connected to the trolley, enabling the robotic arm assembly to move under the control of the trolley. The foot pedal assembly includes a first foot pedal assembly and a second foot pedal assembly. The first foot pedal assembly is connected to the position switch interface of the trolley, and the second foot pedal assembly is connected to the positioning switch interface of the trolley. When positioning the second end of the robotic arm assembly is required, there are two operating methods: Method 1 is to first depress the first foot pedal assembly and then depress the second foot pedal assembly; Method 2 is to depress only the second foot pedal assembly without depressing the first foot pedal assembly. When using Method 1 for positioning, the first foot pedal assembly is pressed down, sending a signal to the trolley. The robotic arm assembly is then in a free-dragging state, allowing the user to drive its movement with their hand or arm, moving the second end of the robotic arm assembly from the first position to the second position at a first speed. Then, the first foot pedal assembly is released, and the second foot pedal assembly is pressed down. This sends a signal to the trolley, which controls the power source to drive the robotic arm assembly, moving the second end of the robotic arm assembly from the second position to the preset position at a second speed. In this positioning process, only a portion requires manual operation, eliminating the need for continuous manual intervention and reducing manual operation time. Instruments can be changed while the second end of the robotic arm assembly is moving from the second position to the preset position without affecting the surgical progress. When using Method 2 for positioning, the second foot pedal assembly is pressed down directly, sending a signal to the trolley. This causes the trolley to control the power source to drive the robotic arm assembly, moving the second end of the robotic arm assembly directly from the first position to the preset position at a second speed. In this positioning process, no manual operation is required throughout, ensuring no disruption to the surgical progress.

[0027] Compared to related technologies where the end-effector positioning of surgical robots relies entirely on manual operation by medical staff, the surgical robot in this embodiment can choose to use either method one or method two to position the second end of the robotic arm assembly based on the intraoperative situation. During the positioning process, foot operation is used instead of manual operation, eliminating the need for manual operation throughout the entire process and reducing the time spent on manual operation. This makes the operation of the surgical robot more convenient and helps to reduce the impact of the operation process on the surgical progress.

[0028] The surgical device of this application embodiment includes a navigation carriage, an operating carriage, and a surgical robot according to any embodiment of the first aspect. Compared with the related technologies, where the end-effector positioning of the surgical robot relies entirely on manual operation by medical staff, the surgical robot in the surgical device of this application embodiment uses foot operation instead of manual operation during the positioning process, eliminating the need for manual operation throughout the entire process, reducing the time spent on manual operation, thereby making the operation of the surgical robot more convenient and helping to reduce the impact of the operation process on the surgical progress.

[0029] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0031] Figure 1 This is a schematic diagram of the surgical robot according to the first embodiment of this application (posture 1);

[0032] Figure 2 for Figure 1 Side view;

[0033] Figure 3 for Figure 1 A magnified view of part A;

[0034] Figure 4 for Figure 1 A magnified view of part B;

[0035] Figure 5 This is a diagram showing the connection relationship between the foot pedal assembly and the trolley in the first embodiment of this application.

[0036] Figure 6 This is a schematic diagram of the surgical robot according to the first embodiment of this application (posture 2);

[0037] Figure 7 This is a schematic diagram of the end effector in the first embodiment of this application;

[0038] Figure 8 for Figure 7 A first-person perspective breakdown diagram;

[0039] Figure 9 for Figure 7 A diagram illustrating the breakdown structure from a second-person perspective;

[0040] Figure 10 This is a schematic diagram of the preset path in the first embodiment of this application;

[0041] Figure 11 This is a diagram showing the connection relationship between the foot pedal assembly and the trolley in the second embodiment of this application;

[0042] Figure 12 This is a diagram showing the connection relationship between the foot pedal assembly and the trolley in the third embodiment of this application;

[0043] Figure 13 This is a schematic diagram of the surgical device according to an embodiment of this application;

[0044] Figure 14 This is a structural schematic diagram of the navigation vehicle from a first-person perspective in an embodiment of this application;

[0045] Figure 15 This is a structural schematic diagram of the navigation vehicle from a second perspective in an embodiment of this application;

[0046] Figure 16 This is a schematic diagram of the structure of the operating trolley in the embodiments of this application;

[0047] Figure 17 This is a diagram showing the connection relationship between the end effector and the tracer from a first-view perspective in an embodiment of this application.

[0048] Figure 18 This is a diagram showing the connection relationship between the end effector and the tracer from a second perspective in an embodiment of this application.

[0049] Explanation of reference numerals in the attached figures:

[0050] Surgical robot 10; navigation trolley 20; first display 21; infrared optical camera 22; speaker 23; operating trolley 30; second display 31; operating table 40; X-ray machine 50; network cable 61; power cord 62; video cable 63; trolley 100; controller 110; position switch interface 111; positioning switch interface 112; electrical interface panel 120; socket 121; first terminal 1211; second terminal 1212; housing 130; window 131; roller 140; electric lifting column 150; robotic arm assembly 200; robotic arm 210; arm 211; joint 212; end effector 220; actuator body 221; control circuit board 2211; button 2212; first button 2212a; second button 2212b; third button Key 2212c; Fourth key 2212d; Adapter flange 2213; Fastener 2214; Insulating flange 2215; Position status indicator 2216; Lamp panel 2216a; Light cover 2216b; Actuator housing 2217; Connecting plate 2218; End flange 2219; Wire shield 2220; Mounting part 223; First mounting channel 2231; Foot pedal assembly 300; First foot pedal assembly 310; Second foot pedal assembly 320; Foot pedal base 330; Base plate 331; Side plate 332; Cable 400; Plug 410; Transmitter 510; First signal terminal 511; Second signal terminal 512; Receiver 520; Third signal terminal 521; Fourth signal terminal 522; Tracker 600; Ball 610; Connecting part 620; Second mounting channel 621. Detailed Implementation

[0051] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0052] Surgical robots play a crucial role in improving surgical precision and safety. The end effector of a surgical robot is used to attach instruments such as scalpels. During surgery, medical staff can perform subsequent operations only after the end effector has positioned itself, thus ensuring the accuracy of the interventional location. In related technologies, the end effector positioning of surgical robots relies entirely on manual operation by medical staff. This means that during surgery, if medical staff want to operate the surgical robot, they must first pause their current operation, wait until the robot is finished, and then continue their previous operation. This is extremely inconvenient and affects the surgical progress. To solve the above-mentioned technical problems, this application proposes a surgical robot and surgical equipment.

[0053] like Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the structure of the surgical robot 10 according to the first embodiment of this application (posture one). Figure 2 for Figure 1 The first aspect of this application discloses a surgical robot 10, which includes a trolley 100, a robotic arm assembly 200, and a foot pedal assembly 300. The trolley 100 has a position switch interface 111 and a positioning switch interface 112. A first end of the robotic arm assembly 200 is connected to the trolley 100, and a second end is a free end. A power source (not shown) for the robotic arm assembly 200 is connected to the trolley 100. The foot pedal assembly 300 includes a first foot pedal assembly 310 and a second foot pedal assembly 320. The first foot pedal assembly 310 is connected to the position switch interface 111, and the second foot pedal assembly 320 is connected to the positioning switch interface 112. When the first foot pedal assembly 310 is depressed, the second end of the robotic arm assembly 200 can move from a first position to a second position at a first speed under the action of an external force. When the second foot pedal assembly 320 is depressed, the second end of the robotic arm assembly 200 can move from the first position or the second position to a preset position at a second speed. The first speed is greater than the second speed.

[0054] The surgical robot 10 of this embodiment includes a trolley 100, a robotic arm assembly 200, and a foot pedal assembly 300. The first end of the robotic arm assembly 200 is connected to the trolley 100, and the second end (end end) is a free end used to mount surgical instruments such as scalpels. The power source of the robotic arm assembly 200 is connected to the trolley 100, enabling the robotic arm assembly 200 to move under the control of the trolley 100. The foot pedal assembly 300 includes a first foot pedal assembly 310 and a second foot pedal assembly 320. The first foot pedal assembly 310 is connected to the position switch interface 111 of the trolley 100, and the second foot pedal assembly 320 is connected to the positioning switch interface 112 of the trolley 100. When positioning the second end of the robotic arm assembly 200 is required, there are two operating methods: Method 1 is to first step on the first foot pedal assembly 310, and then step on the second foot pedal assembly 320; Method 2 is to step on only the second foot pedal assembly 320 without stepping on the first foot pedal assembly 310.

[0055] When using method one for positioning, the first foot pedal assembly 310 can be pressed first, sending a signal to the trolley 100. The robotic arm assembly 200 is then in a free-dragging state, allowing the robotic arm assembly 200 to be moved by hand or arm, causing its second end to move from the first position to the second position at a first speed. Then, the first foot pedal assembly 310 is released, and the second foot pedal assembly 320 is pressed, sending a signal to the trolley 100. The trolley 100 controls the power source to drive the robotic arm assembly 200, causing its second end to move from the second position to the preset position at a second speed. In this positioning process, only part of the process requires manual operation, eliminating the need for full manual operation and reducing manual operation time. During the movement of the second end of the robotic arm assembly 200 from the second position to the preset position, instruments can be changed without affecting the surgical procedure.

[0056] When using method two for positioning, the second foot pedal assembly 320 is directly stepped on, and the second foot pedal assembly 320 sends a signal to the trolley 100. The trolley 100 controls the power source to drive the robotic arm assembly 200 to move, so that the second end of the robotic arm assembly 200 moves directly from the first position to the preset position at the second speed. During the above positioning process, no manual operation is required and it will not affect the surgical process.

[0057] Compared to related technologies, where the end-effector positioning of the surgical robot 10 relies entirely on manual operation by medical staff, the surgical robot 10 of this embodiment can choose to use either method one or method two to position the second end of the robotic arm assembly 200 according to the intraoperative situation. During the positioning process, foot operation is used instead of manual operation, eliminating the need for manual operation throughout the entire process, thus reducing the time spent on manual operation. This makes the operation of the surgical robot 10 more convenient and helps to reduce the impact of the operation process on the surgical progress.

[0058] The first position is a position far from the preset position, and the second position is a position close to the preset position. The first position can be a position greater than 60cm from the patient's surgical intervention position, the second position can be a position 15cm-25cm from the patient's surgical intervention position, and the preset position can be a position 3cm-5cm from the patient's surgical intervention position. The process of the second end of the robotic arm assembly 200 moving from the first position to the second position can be understood as a coarse positioning process, and moving from the second position to the preset position can be understood as a precise positioning process. Since the coarse positioning process involves a longer movement distance, a faster first speed can be used to speed up the surgical process. Since the precise positioning process involves a shorter movement distance, a slower second speed can be used to ensure positioning accuracy. The first speed is greater than the second speed, and the second speed can be 0.005m / s.

[0059] When the distance between the first and second positions is close, the second method can be used for positioning, which is more convenient and will not affect the surgical process.

[0060] Performing instruments may include scalpels, surgical scissors, surgical drills, and Kirschner wires, etc.

[0061] In the first embodiment of this application, when the first foot pedal assembly 310 is stepped on, the second end of the robotic arm assembly 200 can also adjust its posture under the action of external force. With this setting, the posture of the robotic arm assembly 200 can be adjusted to a posture that is convenient for medical staff to operate, and then the end of the robotic arm assembly 200 can be positioned, thereby facilitating operation by medical staff.

[0062] In the prior art, all control methods that enable the trolley 100 to drive the robotic arm assembly 200 to move to a designated position via a power source and to drive the robotic arm assembly 200 to adjust its posture can be applied to the surgical robot 10 of this application embodiment. This application does not limit this control method.

[0063] In the first embodiment of this application, such as Figures 2 to 5 As shown, Figure 3 for Figure 1 A magnified view of part A. Figure 4 for Figure 1 A magnified view of part B. Figure 5 This diagram illustrates the connection between the foot pedal assembly 300 and the trolley 100 in the first embodiment of this application. The trolley 100 includes a controller 110 and an electrical interface panel 120. The controller 110 has a position switch interface 111 and a positioning switch interface 112. The electrical interface panel 120 is exposed outside the trolley 100 and has a first terminal 1211 and a second terminal 1212. The first terminal 1211 is connected to the position switch interface 111 and is connected to the first foot pedal assembly 310 via a cable 400. The second terminal 1212 is connected to the positioning switch interface 112 and is connected to the second foot pedal assembly 320 via a cable 400. The foot pedal assembly 300 is connected to the trolley 100 via a cable 400, which provides a wired connection for more reliable signal transmission and power supply.

[0064] Optionally, the controller 110 can be a robotic arm control box, and the power source of the robotic arm assembly 200 can be a motor. The controller 110 can be connected to the motor via a multi-core cable to control the movement of the robotic arm 210. The controller 110 is provided with multiple terminals, one of which is a position switch interface 111 and the other is a positioning switch interface 112. The electrical interface panel 120 can be provided with a socket 121, which contains multiple pins. One pin corresponds to the first terminal 1211 and the other corresponds to the second terminal 1212. The pins and terminals are connected by wires. The end of the cable 400 can be provided with a plug 410, which is plugged into the socket 121 to realize the electrical connection between the foot pedal assembly 300 and the trolley 100.

[0065] In the first embodiment of this application, such as Figures 2 to 4 As shown, the trolley 100 includes a housing 130 and rollers 140. The housing 130 has an internal accommodating space. A window 131 is provided on the front of the housing 130, connecting the interior and exterior of the housing 130. The rollers 140 are located at the bottom of the housing 130. A controller 110 is located within the accommodating space of the housing 130. An electrical interface panel 120 is at least partially located within the accommodating space, with the first terminal 1211 and the second terminal 1212 exposed to the exterior of the housing 130 through the window 131. The "front" refers to the side facing the medical staff during surgery. The electrical interface panel 120 is located on the front of the trolley 100 for ease of operation. The rollers 140 are designed to facilitate the movement of the trolley 100. Optionally, the number of rollers 140 can be four, arranged in a rectangular pattern for greater stability.

[0066] The bottom of the housing 130 may also be provided with an electric lifting column 150. The electric lifting column 150 is electrically connected to the controller 110 and is spaced apart from the rollers 140. There can be 4 electric lifting columns 150, which are arranged in a rectangular shape for greater stability. The electric lifting columns 150 can be electrically raised and lowered to support the electric lifting column 150 on the ground or off the ground. When the electric lifting column 150 is supported on the ground, the rollers 140 are off the ground to fix the trolley 100. When the electric lifting column 150 is off the ground, the rollers 140 are supported on the ground, and the trolley 100 can move.

[0067] In the first embodiment of this application, such as Figure 4As shown, the foot pedal assembly 300 also includes a foot pedal base 330; the first foot pedal assembly 310 and the second foot pedal assembly 320 are arranged side-by-side and spaced apart on the foot pedal base 330. This arrangement integrates the two foot pedal assemblies 300 together for easy movement; the side-by-side arrangement with a certain distance between them reduces the possibility of accidental operation. Optionally, the foot pedal base 330 may include a base plate 331 and three side plates 332 spaced apart on the base plate 331. The base plate 331 and the three spaced-apart side plates 332 together enclose two placement spaces, and the first foot pedal assembly 310 and the second foot pedal assembly 320 can be respectively placed in the two placement spaces, thereby further reducing the possibility of accidental operation.

[0068] In the first embodiment of this application, such as Figures 6 to 9 As shown, Figure 6 This is a schematic diagram of the structure of the surgical robot 10 according to the first embodiment of this application (posture two). Figure 7 This is a schematic diagram of the end effector 220 in the first embodiment of this application. Figure 8 for Figure 7 First-person perspective breakdown diagram. Figure 9 for Figure 7 The exploded structural diagram from a second-person perspective shows that the robotic arm assembly includes a robotic arm 210 and an end effector 220. The first end of the robotic arm 210 is connected to the trolley 100. The robotic arm 210 may include multiple arms 211, with adjacent arms 211 connected via joints 212. Motors are located at the joints 212 to adjust the position and orientation of the robotic arm 210. The end effector 220 is located at the second end of the robotic arm 210 and includes an actuator body 221 and a mounting portion 223. The actuator body 221 is connected to the second end of the robotic arm 210. The mounting portion 223 is located on the side of the actuator body 221 away from the robotic arm 210, and a first mounting channel 2231 is provided on the side of the mounting portion 223 away from the actuator body 221. The first mounting channel 2231 is used to mount surgical instruments. The actuator body 221 has a control circuit board 2211 and multiple buttons 2212, which are electrically connected to the control circuit board 2211 for controlling the movement of the robotic arm 210.

[0069] At this point, the end position of the robotic arm assembly 200 refers to the position of the first mounting channel 2231. With the posture adjustment of the robotic arm 210, the extension direction of the axis of the first mounting channel 2231 can be at a preset angle, coinciding with a preset path. This ensures that the actuator installed in the first mounting channel 2231 can intervene along the preset path at a preset angle, thereby ensuring the precision of the surgery. Multiple buttons 2212 are used to control the movement of the robotic arm 210, allowing the robotic arm assembly 200 to be positioned in a manner convenient for medical personnel, making operation more efficient.

[0070] like Figure 10 As shown, Figure 10 This is a schematic diagram of the preset path in the first embodiment of this application. Taking spinal surgery as an example, the extension direction of the spine in the horizontal direction can be set as the first direction. The angle between the preset path and the first direction and the intervention position is the intervention angle α. The extension direction of the axis of the first installation channel 2231 coincides with the preset path. The maximum error of the coincidence accuracy is 1.5mm. Within the error range of 1.5mm, the positioning can be considered accurate. Then, the distance between the first installation channel 2231 and the intervention position is adjusted by the button 2212.

[0071] Optionally, the robotic arm 210 can be adjusted using buttons 2212 after the second end (first mounting channel 2231) of the robotic arm assembly 200 reaches a preset position. There can be four buttons 2212, including a first button 2212a, a second button 2212b, a third button 2212c, and a fourth button 2212d. The first button 2212a controls the robotic arm 210 to rotate clockwise along the axis of the first mounting channel 2231 of the end effector 110; the second button 2212b controls the robotic arm 210 to rise along the axis of the first mounting channel 2231 of the end effector 110; the third button 2212c controls the robotic arm 210 to descend along the axis of the first mounting channel 2231 of the end effector 110; and the fourth button 2212d controls the robotic arm 210 to rotate counterclockwise along the axis of the first mounting channel 2231 of the end effector 110.

[0072] In the first embodiment of this application, such as Figures 7 to 9 As shown, the actuator body 221 also has a position status indicator 2216; the position status indicator 2216 is exposed on the outside of the actuator body 221 and is electrically connected to the control circuit board 2211. The position status indicator 2216 can intuitively, accurately and efficiently reflect the position of the second end of the robotic arm assembly 200, thereby determining whether positioning has been completed and whether subsequent operations can be performed, thus improving the success rate and safety of the surgery.

[0073] Optionally, the position status indicator 2216 can be a light ring using RGB (red, green, blue) LEDs (light-emitting diodes) to display multiple colors, each representing a different working state. For example, blue indicates that the robotic arm 210 is normally powered on, in which all functions related to the robotic arm 210 can be performed, including but not limited to disconnecting, connecting, freely dragging, and positioning functions; green indicates that after performing the positioning function, the robotic arm 210 has moved to the preset position accuracy range and can proceed to the next operation, including but not limited to fine-tuning the positioner height and rotation angle; yellow indicates that the ball (not shown in the figure) on the end effector 220 is obstructed and cannot be captured by the NDI (Network Device Interface) camera. The color change of the position status indicator 2216 is synchronized with the position and attitude changes of the robotic arm component 200, providing real-time feedback and intuitive positioning feedback.

[0074] The foot pedal assembly 300 and the button 2212 work together to adjust the posture of the robotic arm 210. The button 2212 is used to fine-tune the position of the second end of the robotic arm assembly 200, including fine-tuning in the up, down, left, right and forward directions. The status changes of the position status indicator light 2216 provide medical staff with adjustment references, making the adjustment process more intuitive and precise.

[0075] The specific operation process is as follows: After the positioning operation is completed and the position status indicator 2216 turns green, step on the second foot pedal component 320 and simultaneously press the first button 2212a. The robotic arm 210 rotates clockwise along the axis of the first mounting channel 2231. Step on the second foot pedal component 320 and simultaneously press the second button 2212b. The robotic arm 210 rises along the axis of the first mounting channel 2231. Step on the second foot pedal component 320 and simultaneously press the third button 2212c. The robotic arm 210 descends along the axis of the first mounting channel 2231. Step on the second foot pedal component 320 and simultaneously press the fourth button 2212d. The robotic arm 210 rotates counterclockwise along the axis of the first mounting channel 2231. Since the second foot pedal component 320 can achieve precise positioning, it is ensured that the axis of the first mounting channel 2231 will not deviate from the preset path during the fine-tuning process using the end effector 220, thus ensuring positional accuracy.

[0076] like Figures 7 to 9As shown, the position status indicator 2216 includes a light panel 2216a and a light-transmitting cover 2216b. The actuator body 221 also includes an adapter flange 2213, an insulating flange 2215, an actuator housing 2217, a connecting plate 2218, an end flange 2219, and a wire shield 2220. The end flange 2219, actuator housing 2217, insulating flange 2215, and transition flange 2213 are sequentially fixedly connected by fasteners 2214. The actuator housing 2217 has an installation space, and the control circuit board 2211 and buttons 2212 are installed in the installation space. The actuator housing 2217 has multiple hollow structures corresponding to the multiple buttons 2212, so that the multiple buttons 2212 are exposed on the outside of the actuator housing 2217 for easy operation. The wire shield 2220 is installed on the outside of the actuator housing 130, and the connecting plate 2218 is located between the two. The connecting plate 2218 is connected to the control circuit board 2211 and connected to the power source of the controller 110 or the robotic arm 210. The lamp plate 2216a and the light-transmitting cover 2216b are installed between the transition flange 2213 and the insulating flange 2215. The light-transmitting cover 2216b is sleeved on the outside of the lamp plate 2216a for easy illumination.

[0077] Optionally, the light-transmitting cover 2216b can be made of PC (polycarbonate) material to evenly diffuse the light from the light panel 2216a; the button 2212 can be a silicone button, and the one-piece design provides a good feel; the wire shield 2220 covers the plug-in and connecting wires of the circuit to prevent accidental touch; the adapter flange 2213 is used to fix the front-end instrument; the insulating flange 2215 achieves insulation between the front-end instrument and the robotic arm 210.

[0078] The difference between the surgical robot 10 of the second embodiment of this application and the surgical robot 10 of the first embodiment of this application is that the foot pedal assembly 300 and the trolley 100 in the first embodiment of this application are wired, while the foot pedal assembly 300 and the trolley 100 in the second embodiment of this application are wirelessly connected.

[0079] In the second embodiment of this application, as Figure 11 As shown, Figure 11This diagram illustrates the connection between the foot pedal assembly 300 and the trolley 100 in the second embodiment of this application. The foot pedal assembly 300 includes a transmitter 510; the transmitter 510 has a first signal terminal 511 and a second signal terminal 512; the first signal terminal 511 is connected to the first foot pedal assembly 310; the second signal terminal 512 is connected to the second foot pedal assembly 320; the trolley 100 includes a controller 110 and a receiver 520; the controller 110 has a position switch interface 111 and a positioning switch interface 112; the receiver 520 has a third signal terminal 521 and a fourth signal terminal 522; the third signal terminal 521 is connected to the position switch interface 111; the fourth signal terminal 522 is connected to the positioning switch interface 112. The foot pedal assembly 300 and the trolley 100 are wirelessly connected, allowing for more flexible positioning of the foot pedal assembly 300, reducing the number of cables 400, improving the tidiness of the operating room, and reducing the risk of tripping over cables 400.

[0080] Optionally, the transmitter 510 can be mounted on the foot pedal assembly 300. The first foot pedal assembly 310 and the second foot pedal assembly 320 are respectively connected to the circuit board (not shown in the figure) of the transmitter 510. When the first foot pedal assembly 310 or the second foot pedal assembly 320 is stepped on, the transmitter 510 detects the above behavior and sends a Bluetooth signal to the receiver 520. The receiver 520 transmits the signal to the controller 110, thereby realizing the control of the robotic arm assembly 200.

[0081] The difference between the surgical robot 10 of the third embodiment of this application and the surgical robot 10 of the second embodiment of this application is whether the receiver 520 is connected to the first terminal 1211 and the second terminal 1212 of the electrical interface panel 120.

[0082] In the third embodiment of this application, the structure of the trolley 100 can be referred to Figures 2 to 4 ,like Figure 12 As shown, Figure 12This diagram illustrates the connection relationship between the foot pedal assembly 300 and the trolley 100 in the third embodiment of this application. The foot pedal assembly 300 includes a transmitter 510; the transmitter 510 has a first signal terminal 511 and a second signal terminal 512; the first signal terminal 511 is connected to the first foot pedal assembly 310; the second signal terminal 512 is connected to the second foot pedal assembly 320; the trolley 100 includes a controller 110 and a receiver 520; the controller 110 has a position switch interface 111 and a positioning switch interface 112; the receiver 520 has a third signal terminal 521 and a fourth signal terminal 522; the third signal terminal 521 is connected to the position switch interface 111; the fourth signal terminal 522 is connected to the positioning switch interface 112. The trolley 100 also includes an electrical interface panel 120; the electrical interface panel 120 is exposed on the outside of the trolley 100 and is provided with a first terminal 1211 and a second terminal 1212; the first terminal 1211 is connected to the position switch interface 111 and the third signal terminal 521 respectively; the second terminal 1212 is connected to the positioning switch interface 112 and the fourth signal terminal 522 respectively.

[0083] With this setup, the receiver 520 can be directly plugged into the electrical interface panel 120. Both wired and wireless connections can be achieved through the electrical interface panel 120. To switch the connection method, simply plug or unplug the receiver 520. Figure 4 The plug 410 on the cable 400 shown is sufficient; the switching method is simple.

[0084] like Figure 13 As shown, Figure 13 This is a schematic diagram of the structure of a surgical device according to an embodiment of this application. An embodiment of the second aspect of this application proposes a surgical device including a navigation cart 20, an operating cart 30, and a surgical robot 10 according to any embodiment of the first aspect. A network cable 61, a power cable 62, and a video cable 63 are provided as needed. Figure 14 and Figure 15 As shown, Figure 14 This is a first-view structural diagram of the navigation vehicle 20 in the embodiments of this application. Figure 15 This is a structural schematic diagram of the navigation vehicle 20 from a second perspective in an embodiment of this application. The navigation vehicle 20 includes a first display 21 and an infrared optical camera 22; as shown... Figure 16 As shown, Figure 16 This is a schematic diagram of the structure of the operating trolley 30 in an embodiment of this application. The operating trolley 30 includes a second display 31; as shown... Figure 1 , Figure 17 and Figure 18 As shown, Figure 17 This is a connection diagram of the end effector 220 and the tracer 600 from a first-view perspective in the embodiments of this application. Figure 18This is a connection diagram of the end effector 220 and the tracer 600 from a second perspective in an embodiment of this application. The robotic arm assembly 200 of the surgical robot 10 includes a robotic arm 210, an end effector 220 and a tracer 600; the first end of the robotic arm 210 is connected to the trolley 100; the end effector 220 is connected to the second end of the robotic arm 210; the end effector 220 has a first mounting channel 2231; the tracer 600 is located on the side of the end effector 220 away from the robotic arm 210.

[0085] The surgical device of this application embodiment includes a navigation carriage 20, an operating carriage 30, and a surgical robot 10 according to any embodiment of the first aspect. Compared with the related technology, where the end-effector positioning of the surgical robot 10 relies entirely on manual operation by medical staff, the surgical robot 10 in the surgical device of this application embodiment uses foot operation instead of manual operation during the positioning process, eliminating the need for manual operation throughout the process, reducing the time spent on manual operation, thereby making the operation of the surgical robot 10 more convenient and helping to reduce the impact of the operation process on the surgical progress.

[0086] The infrared optical camera 22 of the navigation carriage 20 can capture the position of the tracer 600, thereby determining the position of the second end of the robotic arm assembly 200, and thus controlling the movement of the robotic arm assembly 200. Optionally, a small ball 610 can be provided on the tracer 600 for easy capture by the infrared optical camera 22. The tracer 600 has a connecting part 620, which is provided with a second mounting channel 621. The connecting part 620 is located within a first mounting channel 2231; the second mounting channel 621 is coaxially arranged with the first mounting channel 2231. The positioning of the robotic arm assembly 200 can be achieved using a binocular recognition system, which captures a stereoscopic image of the surgical area through two high-resolution cameras and calculates the precise position and posture of the robotic arm 210 through image processing algorithms. The binocular recognition system can also identify important anatomical landmarks within the surgical area, assisting doctors in precise positioning and operation. The first display 21 of the navigation carriage 20 and the second display 31 of the operating carriage 30 can display the same interface or different interfaces, thereby facilitating operation by medical personnel. The navigation carriage 20 may also be equipped with a speaker 23, which can emit a prompt tone and work in conjunction with the position status indicator light 2216 to provide feedback. The surgical equipment may also include an X-ray machine 50, which accurately determines the intervention position and angle based on the X-ray images taken by the X-ray machine 50.

[0087] The following is about Figure 13 The procedure for using the surgical equipment shown is explained in detail.

[0088] The patient lies on the operating table 40, and an X-ray is taken using an X-ray machine 50 to confirm the intervention location and angle. The first foot pedal assembly 310 is depressed, allowing the robotic arm assembly 200 to be freely dragged, changing the posture of the robotic arm 210 so that the tracer 600 can be captured by the infrared optical camera 22. This allows the position of the tracer 600 to be determined, and the position of the first mounting channel 2231 is determined by the relative positional relationship between the tracer 600 and the first mounting channel 2231 of the robotic arm assembly 200. The first mounting channel 2231 is then moved from a first position to a second position at a first speed. The first foot pedal assembly 310 is then released, and the second foot pedal assembly 320 is depressed. The first mounting channel 2231 moves from the second position to a preset position at a second speed, at which point the axis of the first mounting channel 2231 coincides with the preset path. Finally, the posture of the robotic arm 210 is finely adjusted using the button 2212 on the end effector 220.

[0089] Of course, during the above positioning process, the second foot pedal assembly 320 can also be used for positioning without the first foot pedal assembly 310. The positioning method can be selected according to the actual needs.

[0090] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A surgical robot, characterized in that, include: The trolley (100) has a position switch interface (111) and a positioning switch interface (112). The robotic arm assembly (200) has a first end connected to the trolley (100) and a second end that is a free end; the power source of the robotic arm assembly (200) is connected to the trolley (100); The foot pedal assembly (300) includes a first foot pedal assembly (310) and a second foot pedal assembly (320); the first foot pedal assembly (310) is connected to the position switch interface (111), and the second foot pedal assembly (320) is connected to the positioning switch interface (112); when the first foot pedal assembly (310) is pressed down, the second end of the robotic arm assembly (200) can move from a first position to a second position at a first speed under the action of an external force; when the second foot pedal assembly (320) is pressed down, the second end of the robotic arm assembly (200) can move from the first position or the second position to a preset position at a second speed; The first speed is greater than the second speed.

2. The surgical robot according to claim 1, characterized in that, The trolley (100) includes: The controller (110) has the position switch interface (111) and the positioning switch interface (112). An electrical interface panel (120) is exposed on the outside of the trolley (100) and has a first terminal (1211) and a second terminal (1212). The first terminal (1211) is connected to the position switch interface (111) and to the first foot pedal assembly (310) via a cable (400). The second terminal (1212) is connected to the position switch interface (112) and to the second foot pedal assembly (320) via a cable (400).

3. The surgical robot according to claim 1, characterized in that, The foot pedal assembly (300) includes: a transmitter (510); the transmitter (510) has a first signal terminal (511) and a second signal terminal (512); the first signal terminal (511) is connected to the first foot pedal assembly (310); the second signal terminal (512) is connected to the second foot pedal assembly (320); The trolley (100) includes a controller (110) and a receiver (520); the controller (110) has the position switch interface (111) and the positioning switch interface (112); the receiver (520) has a third signal terminal (521) and a fourth signal terminal (522); the third signal terminal (521) is connected to the position switch interface (111); the fourth signal terminal (522) is connected to the positioning switch interface (112).

4. The surgical robot according to claim 3, characterized in that, The trolley (100) also includes: an electrical interface panel (120); The electrical interface panel (120) is exposed on the outside of the trolley (100) and is provided with a first terminal (1211) and a second terminal (1212); the first terminal (1211) is connected to the position switch interface (111) and the third signal terminal (521) respectively; the second terminal (1212) is connected to the positioning switch interface (112) and the fourth signal terminal (522) respectively.

5. The surgical robot according to any one of claims 1 to 4, characterized in that, The robotic arm assembly (200) includes: A robotic arm (210), the first end of which is connected to the trolley (100); An end effector (220) is disposed at the second end of the robotic arm (210); it includes an actuator body (221) and a mounting part (223); the actuator body (221) is connected to the second end of the robotic arm (210); the mounting part (223) is disposed on the side of the actuator body (221) away from the robotic arm (210), and the side of the mounting part (223) away from the actuator body (221) is provided with a first mounting channel (2231); the actuator body (221) has a control circuit board (2211) and multiple buttons (2212), the multiple buttons (2212) are electrically connected to the control circuit board (2211) and are used to control the movement of the robotic arm (210).

6. The surgical robot according to claim 5, characterized in that, The actuator body (221) also has a position status indicator light (2216). The position status indicator (2216) is exposed outside the actuator body (221) and is electrically connected to the control circuit board (2211).

7. The surgical robot according to claim 2 or 4, characterized in that, The trolley (100) includes: a housing (130) and rollers (140); the housing (130) has an internal accommodating space; a window (131) is provided on the front of the housing (130) to connect the interior and exterior of the housing (130); the rollers (140) are located at the bottom of the housing (130); The controller (110) is disposed within the housing (130); The electrical interface panel (120) is at least partially disposed within the receiving space; the first terminal (1211) and the second terminal (1212) are exposed to the outside of the housing (130) through the window (131).

8. The surgical robot according to claim 1, characterized in that, When the first foot pedal assembly (310) is stepped on, the second end of the robotic arm assembly (200) can also adjust its posture under the action of external force.

9. The surgical robot according to claim 1, characterized in that, The foot pedal assembly (300) also includes: a foot pedal base (330); The first pedal assembly (310) and the second pedal assembly (320) are arranged side by side and spaced apart on the pedal seat (330).

10. A surgical device, characterized in that, include: The navigation carriage (20), the operating carriage (30), and the surgical robot according to any one of claims 1-9; The navigation trolley (20) includes a first display (21) and an infrared optical camera (22); The operating trolley (30) includes a second display (31); The robotic arm assembly (200) of the surgical robot includes a robotic arm (210), an end effector (220), and a tracer (600); a first end of the robotic arm (210) is connected to the trolley (100); the end effector (220) is connected to a second end of the robotic arm (210); the end effector (220) has a first mounting channel (2231); and the tracer (600) is disposed on the side of the end effector (220) away from the robotic arm (210).

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