Medical equipment, surgical robots and surgical robot control systems

Abstract

According to the present application, there are provided a medical device, a surgical robot, and a control system for the surgical robot. The medical device is used in the surgical robot and includes a housing and an activation device. The activation device is provided in the housing and is capable of being triggered. The activation device is triggered when operated to generate an induction signal. The activation device transmits the induction signal to an energy generator, whereby the energy generator generates energy and is activated.

Description

[Technical field]

[0001] The present application relates generally to the technical field of surgical robots, and more specifically to medical devices used in surgical robots, surgical robots, and control systems for surgical robots. [Background technology]

[0002] For safety reasons, conventional ultrasonic knife surgical instruments must be connected to an ultrasonic knife transducer and an energy generator before use, and the handheld ultrasonic knife instrument can be externally connected to an activation device for self-testing operation, and only instruments that pass the self-testing can be activated and used during surgery.

[0003] In the case of a conventional minimally invasive robotic surgical instrument, before using the ultrasonic knife instrument, the user can only activate and self-test the instrument by using an activation device connected to the energy generator. When self-testing, the energy generator is first disconnected from the main control platform of the minimally invasive surgical robot system, and the energy generator is connected to the activation device. After the self-testing is completed, the activation device is removed and the energy generator is reconnected to the main control platform, thereby realizing the control of the energy generator and the ultrasonic knife instrument by the doctor at the main control platform.

[0004] In addition, in the process of using the surgical robot ultrasonic knife instrument, the user needs to perform a cleaning operation after activating the instrument. In the conventional minimally invasive surgical robot system, the user needs to disconnect the energy generator from the main control platform again and connect the activation device. After the cleaning operation is completed, the activation device is removed and the energy generator is reconnected to the main control platform. This design is to ensure that the ultrasonic knife instrument can be used and controlled by the main control platform only after the energy generator is activated, and to prevent the occurrence of a situation in which the activation device and the robot system control the energy generator at the same time.

[0005] However, in the above-mentioned usage scenario, the switching of the connection operation between the activation device and the robot system control device and the energy generator interrupts the operation process of the first user, affecting the usage experience. Then, the main control platform and the activation device need to be removed from the energy generator alternately, and in order to ensure the connection effect, it is usually realized by cables, plugs and interfaces. Frequent plugging and unplugging operations will lead to the loosening of the connection between the interface and the plug, affecting the safety of the connection, shortening the life of the surgical robot device on the one hand, and posing a threat to the safety of the patient on the other hand. Summary of the Invention

[0006] The Summary of the Invention introduces a set of concepts in a simplified form, which are described in more detail in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to define the key features and necessary technical features of the technical means claimed for protection, nor is it intended to specify the scope of protection of the technical means claimed for protection.

[0007] According to a first aspect of the present application, there is disclosed a medical device for use in a surgical robot including a mechanical arm, a transducer and an energy generator, the transducer being electrically connected to the energy generator, the medical device being attached to the mechanical arm and used to connect to the transducer, the medical device including a housing and an activation device provided in the housing and configured to be triggered to generate an induced signal, the activation device being configured to transmit the induced signal to the energy generator to cause the energy generator to generate energy.

[0008] In the present application, the medical instrument of the surgical robot includes an activation device, and by operating the activation device of the medical instrument, an induction signal can be transmitted to the energy generator, so that the energy generator generates energy and is activated.

[0009] In some embodiments, the activation device is configured as a physical trigger device and includes an induced signal generator provided on the housing and an operating member provided on the housing and configured not to protrude from an outer surface of the housing, the operating member being configured to trigger the induced signal generator to generate an induced signal when operated, and the induced signal generator transmitting the induced signal to the energy generator.

[0010] In the present application, when the medical device is attached to the surgical robot, the operating members are not exposed, which prevents the user from accidentally touching the operating members and ensures the safety of the medical device during use.

[0011] In some embodiments, the housing is configured to be partially recessed inwardly to define an operating area, and the operating member is provided in the operating area of ​​the housing.

[0012] In some embodiments, the operating member is located on one side of the housing facing the mechanical arm.

[0013] In the present application, when the medical device is attached to the mechanical arm, the back side of the housing faces the mechanical arm and the operating members are hidden behind the housing, preventing the user from accidentally coming into contact with them.

[0014] In some embodiments, the operating member is provided on the housing so as to be movable between a first position in which the operating member does not trigger the induced signal generator and a second position in which the operating member triggers the induced signal generator.

[0015] In some embodiments, the operating member includes an elastic connection and a protrusion and is connected to the housing by the elastic connection, and when the operating member is operated, the elastic connection drives the protrusion to deform and move from a first position to a second position.

[0016] In some embodiments, the induction signal generator is a key switch, and the operating member is an operating button embedded in the housing.

[0017] In some embodiments, the operating surface of the operating button is configured to be flush with the outer surface of the housing.

[0018] In some embodiments, the operating surface of the operating button is configured to be at least partially recessed into the housing.

[0019] In the present application, when the medical device is attached to the mechanical arm, the operation button does not collide with or interfere with other components of the surgical robot, so safety is guaranteed.

[0020] In some embodiments, the activation device is configured to be electrically connected to the energy generator by a wired or wireless connection.

[0021] In some embodiments, the activation device is connected to a transducer such that the transducer transmits an inductive signal to the energy generator.

[0022] In some embodiments, the housing is further provided with a stylus connection device including a stylus and contacts, one of the stylus and the contacts is provided on the housing so as to be electrically connected to the activation device, and the other of the stylus and the contacts is adapted to be provided on a transducer, the housing is provided with a transducer interface, and when the transducer is attached to the transducer interface, the stylus is electrically connected to the contacts.

[0023] In some embodiments, the medical instrument further comprises an ultrasonic knife assembly or a vessel sealer.

[0024] According to a second aspect of the present application, a surgical robot is disclosed that includes a mechanical arm, a transducer, an energy generator, and the above-mentioned medical instrument, wherein the medical instrument is removably attached to the mechanical arm, the transducer is electrically connected to the energy generator and removably connected to the medical instrument, and the energy generator is configured to receive an induced signal and generate energy based on the induced signal.

[0025] The surgical robot of the present application includes an energy generator, a transducer, a mechanical arm and the above-mentioned medical device of the present application, and when the energy generator needs to be activated during the use process, the doctor on the patient's side can directly activate the energy generator through the medical device to generate energy, and there is no need to frequently switch the connection state between the energy generator and the remote control platform, and the operation process is smoother and more reasonable. Based on this, there is no need to frequently plug and unplug the plug and interface between the energy generator and the remote control platform, which further improves the connection safety between the energy generator and the remote control platform, and thus improves the service life of the entire surgical robot device.

[0026] According to a third aspect of the present application, a control system for a surgical robot is disclosed, which includes a medical device, an activation device, a transducer and an energy generator, wherein the activation device is attached to the medical device or not and configured to be triggered to generate an induction signal, and after the activation device is operated, a main control unit of the energy generator acquires the induction signal and performs the following operations: determining whether a self-test operation of the medical device has been completed; if the self-test operation has been completed, triggering a vibration frequency signal; and if the self-test operation has not been completed, starting a self-test.

[0027] The control system of the surgical robot of the present application includes an activation device, which triggers the activation device to generate an induction signal to activate the energy generator. After the main control unit obtains the induction signal, it first performs self-test and verification, the actual meaning of which is to ensure that the medical device can be used after the self-test is completed.

[0028] In some embodiments, the self-testing by the main control unit of the energy generator includes obtaining connectivity information between the medical device and the transducer, and / or obtaining status information of the medical device, and / or obtaining pre-stored information of the medical device.

[0029] In some embodiments, the medical device status information includes device implementation physical status information.

[0030] In some embodiments, the pre-stored information for the medical device includes an identity of the medical device and a number of uses of the medical device.

[0031] In some embodiments, the activation device is configured as a physical trigger device, a voice control device, or a gesture control device. [Brief description of the drawings]

[0032] The following drawings of the embodiments of the present application are used herein as part of the present application for understanding the present application, and show the embodiments of the present application and their illustrations for explaining the principles of the present application.

[0033] [Figure 1] FIG. 1 is a structural schematic diagram of a surgical robot according to any embodiment of the present application. [Diagram 2] FIG. 13 is a structural schematic diagram of a surgical robot according to another optional embodiment of the present application. [Diagram 3] FIG. 2 is a partial structural diagram of a surgical robot according to any embodiment of the present application. [Figure 4] FIG. 2 is a structural diagram of a medical device according to any embodiment of the present application. [Diagram 5] FIG. 5 is a three-dimensional view of the medical device of FIG. 4. [Figure 6] FIG. 2 is a three-dimensional view of the internal structure of a medical device according to any embodiment of the present application. [Figure 7] FIG. 2 is a partial structural view of a medical device according to another optional embodiment of the present application. [Figure 8] FIG. 2 is a partial structural view of a medical device according to a further optional embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] In the following description, many specific details are presented in order to provide a more complete understanding of the present application. However, it is clear to those skilled in the art that the embodiments of the present application can be implemented without one or more of these details. In other instances, some technical features that are well known in the art are not described in order to avoid confusion with the embodiments of the present application.

[0035] In order to fully understand the present application, detailed descriptions are provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concept of these exemplary embodiments to those skilled in the art. Apparently, the implementation of the embodiments of the present application is not limited to specific details that are well known to those skilled in the art. Although the preferred embodiments of the present application are described in detail below, in addition to these detailed descriptions, the present application may have other embodiments.

[0036] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is also intended to include the plural form, unless the context clearly dictates otherwise. It should also be understood that when the terms "comprise" and / or "comprise" are used herein, they specify the presence of features, wholes, steps, operations, elements, and / or assemblies, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, assemblies, and / or combinations thereof.

[0037] Ordinal terms such as "first" and "second" referred to in this application are merely labels and do not have any other meaning, such as a specific order, etc. Also, for example, the term "first member" does not by itself imply the existence of a "second member," and the term "second member" does not by itself imply the existence of a "first member."

[0038] It should be noted that terms such as "upper," "lower," "front," "back," "left," "right," "inner," "outer," and similar expressions used in this specification are for descriptive purposes only and are not limiting.

[0039] Exemplary embodiments according to the present application will now be described in more detail with reference to the drawings.

[0040] According to the present application, there is provided a medical device for use in a surgical robot and a surgical robot including the same.

[0041] In order to more accurately understand the technical means of the present application, the surgical robot will be introduced first. As shown in Figures 1 and 2, in a specific embodiment, the surgical robot 200 includes a transducer 210, an energy generator 220, a medical device 230, and a mechanical arm 240. The medical device 230 is used for attachment to the mechanical arm 240, and can be driven to change the orientation of the medical device 230 by controlling the orientation of the mechanical arm 240 to change. As shown in Figure 3, the medical device 230 is located at the end of the mechanical arm 240.

[0042] Specifically, the transducer 210 is electrically connected to the energy generator 220 by a cable. The energy generator 220 includes a main control unit 221 and a generator body (not shown). The main control unit 221 can control the generator body to generate energy (e.g., electrical energy) and output it to the transducer 210. The role of the transducer 210 is to convert the received energy into mechanical energy and transmit the mechanical motion to the medical device 230 connected to the transducer 210. The main control unit 221 is communicatively connected to the remote control stand 250. A doctor located at the remote control stand 250 side can input control commands to the main control unit 221, and can control the state of the medical device 230 by inputting different control commands to the energy generator 220. Specifically, the main control unit 221 is connected to the remote control stand 250 by a cable. The cable ensures the speed and stability of signal transmission.

[0043] In the process of using the surgical robot 200 of the present application, the mechanical arm 240, the medical instrument 230, the energy generator 220 and the transducer 210 are all located next to the patient, but the remote control platform 250 is located away from the patient.

[0044] Based on this connection configuration between the main control unit 221 and the remote control console 250, in any embodiment, as shown in Figures 3 to 5, the medical device 230 of the present application includes a housing 340 and an activation device attached to the housing 340.

[0045] In some embodiments, the activation device is realized by a physical trigger device. Referring to FIG. 2, the activation device specifically includes an induction signal generator and an operating member 310.

[0046] The induced signal generator is provided in the housing 340. The operating member 310 is provided in the housing 340 and configured not to protrude from the outer surface of the housing 340. When operated, the operating member 310 can trigger the induced signal generator to generate an induced signal. The induced signal generator transmits an induced signal to the energy generator 220 to cause the energy generator 220 to generate energy.

[0047] According to a specific embodiment of the present application, by operating the operating member 310 of the medical device 230, the induced signal generator can transmit an induced signal to the energy generator 220. This activates the energy generator 220, and the operating member 310 is designed to be hidden, thereby preventing the user from accidentally touching the operating member 310 and ensuring the safety of the medical device 230 during use. Those skilled in the art can flexibly select and configure the induced signal generator based on the role of the induced signal generator.

[0048] Specifically, the induced signal generator is electrically connected to the main control unit 221. The main control unit 221 can control the generating device body to activate the energy generator 220 based on the induced signal to generate energy and output it to the transducer 210. For example, the energy generator 220 outputs a current or a voltage to the transducer 210 based on the induced signal.

[0049] 3, the operating member 310 is located on one side of the housing 340 close to the mechanical arm 240. This prevents a doctor (a doctor next to a patient) close to one side of the medical device 230 from accidentally touching the operating member 310 during operation. This ensures the safety of the medical device 230 during use.

[0050] 4 and 5, the housing 340 is configured to be partially recessed inward to form an operation area 340a. The operation member 310 is provided in the operation area 340a of the housing 340. When the surgical robot 200 is working, the operation area 340a recessed inward makes it difficult for a doctor next to the patient to touch the operation member 310.

[0051] As shown in Fig. 5 and Fig. 6, in the embodiment of the present application, the induced signal generator adopts a key switch, and the operation member 310 is an operation button. The operation button is embedded in the housing 340, and the key switch is provided in the switch seat 360. In other words, the housing 340 is formed with a through-hole structure for embedding the operation button. The housing 340 is provided with a space for accommodating the operation button. By pressing the operation button, the key switch in the housing 340 can be triggered to generate an induced signal.

[0052] Specifically, the operation button has an operation surface 310a configured to be at least partially recessed into the housing 340. As shown in FIG. 5, the operation button is located in an operation area 340a. The shape of the operation surface 310a (the surface to be pressed) of the operation button is configured as a substantially rounded rectangular surface. The edges of the operation surface 310a are substantially flush with the outer surface of the housing 340 in the operation area 340a. The center of the operation surface 310a is recessed toward the inside of the housing 340.

[0053] 6, the operation surface 310a of the operation button is configured as a substantially circular surface. The operation button has a recessed design such that the operation surface 310a of the operation button is lower than the outer surface of the housing 340. In this way, when the medical device 230 is attached to the mechanical arm 240, the operation button 310 will not collide or interfere with other members of the surgical robot 100, so safety is further ensured.

[0054] Alternatively, in other embodiments of the present application, the operation surface 310a of the operation button may be configured to be flush with the outer surface of the housing 340. The design forms of the operation button introduced above all achieve the effect of hiding the operation button, so as to further prevent a doctor next to the patient from accidentally touching the operation button.

[0055] In any embodiment of the present application, the operating member 310 is movably provided on the housing 340. Specifically, the operating member 310 can move between a first position in which the induced signal generator is not triggered and a second position in which the induced signal generator is triggered. With reference to Figs. 7 and 8, the operating member 310 further includes an elastic connecting portion and a protruding portion. The operating member 310 is connected to the housing 340 by the elastic connecting portion. When the operating member 310 is operated, the elastic connecting portion can be deformed, so that the protruding portion of the operating member 310 can move from the first position to the second position. The elastic connecting portion is made of an elastic material.

[0056] In the embodiment shown in FIG. 7, the operation member 310 is an operation button connected to the housing 340 by an elastic connection part 310b provided on the top side or the bottom side. When the operation surface 310a of the operation button is pressed, the elastic connection part 310b is deformed, so that the operation button as a whole is slightly inclined toward the inside of the housing 340 with respect to the connection position between the elastic connection part 310b and the housing 340, and the protrusion 310c contacts the key switch, triggering the key switch to generate an induction signal. When the operation surface 310a is released, the operation button as a whole is restored (i.e., rotates toward the outside of the housing 340 with respect to the connection position between the elastic connection part 310b and the housing 340 until it returns to its original position).

[0057] In the embodiment shown in FIG. 8, the operation member 310 is an operation button fixed to the housing 340 by an elastic connection part 310b'. The elastic connection part 310b' includes two L-shaped structures symmetrically arranged at the center. The L-shaped structures are made of an elastic material. When the operation surface 310a of the operation button is pressed from the outside of the housing 340, the elastic connection parts 310b' of the two L-shaped structures located inside the housing 340 are simultaneously deformed, so that the protrusion part 310c' is offset toward the inside of the housing 340 and contacts the key switch, triggering the key switch to generate an induced signal. When the operation surface 310a is released, the operation button is restored by the elastic force generated by the deformation of the elastic connection part 310b', and the protrusion part 310c' is no longer in contact with the key switch. Compared with the embodiment shown in FIG. 7, the two L-shaped structures are symmetrically arranged at the center as the elastic connection part 310b', so that the movement of the operation button can be more stable and reliable.

[0058] A support portion 340b for supporting the operating member 310 is further formed inside the housing 340. With reference to Fig. 7 and Fig. 8, the housing 340 partially protrudes inward so that the support portion 340b is formed.

[0059] Optionally, the inductive signal generator is configured to be electrically connected to the energy generator 220 by a wired or wireless connection. Returning to Fig. 2, the arrows in Fig. 2 represent the form of signal transmission. As a possible form, the inductive signal generator of the medical device 230 can directly transmit the inductive signal to the main control unit 221 of the energy generator 220. In Fig. 2, the inductive signal generator may be electrically connected to the transducer 210, and then the transducer 210 transmits the inductive signal to the main control unit 221.

[0060] In some other embodiments, the activation device may not employ the above-mentioned operation button, but may have the switch key of the key switch directly disposed on the housing, and designed with a recessed structure to prevent accidental contact.

[0061] In the present embodiment, the induced signal generator is electrically connected to the transducer 210. The transducer 210 is electrically connected to the energy generator 220 by a cable. Thus, the induced signal generator can transmit an induced signal to the energy generator 220 via the transducer 210.

[0062] Specifically, the housing is further provided with a stylus connecting device including a stylus and a contact. Either one of the stylus and the contact is provided on the housing so as to be electrically connected to the induction signal generator, and either the other of the stylus and the contact is provided on the transducer. The housing is provided with a transducer interface for connecting the transducer. When the transducer is attached to the transducer interface, the stylus is electrically connected with the contact. In other words, when the contact is provided on the housing, the stylus is provided on the transducer. When the stylus is provided on the housing, the contact is provided on the transducer. Here, the stylus connecting device is a convenient electrical connector, and those skilled in the art can flexibly set the type of electrical connector according to the actual situation.

[0063] In the embodiment shown in FIG. 6, the key switch is electrically connected to the transducer 210 by a stylus connecting device. The stylus connecting device is provided in the housing 340. The housing 340 of the medical device 230 is provided with a transducer interface 350 for connecting the transducer 210. The stylus 330 is provided in a mounting seat in the transducer interface 350 of the housing 340. The key switch is electrically connected to the stylus 330 by a cable 320. Correspondingly, a contact of the stylus connecting device is provided in the transducer 210. When the transducer 210 is attached to the mounting seat of the transducer interface 350, the stylus 330 is electrically connected to the contact, and the key switch is electrically connected to the transducer 210.

[0064] In this embodiment, the medical instrument 230 further includes an ultrasonic knife assembly. As shown in FIG. 4, the ultrasonic knife assembly includes an ultrasonic knife head 370 at the lower end. The ultrasonic knife assembly is connected to the transducer 210. The transducer 210 can convert the energy output from the energy generator 220 into mechanical vibration and transmit it to the ultrasonic knife cutter head 370 so that the ultrasonic knife cutter head 370 vibrates. The thermal energy generated by the high-frequency vibration of the ultrasonic knife head 370 will complete the corresponding treatment. The doctor located at the remote control platform 250 side can control and adjust the vibration frequency of the ultrasonic knife by inputting different control commands into the main control unit 221.

[0065] It should be noted that the medical device 230 of the present application may include other medical devices that require energy generation, such as, for example, a vascular sealer.

[0066] Optionally, the medical instrument 230 is removably attached to the mechanical arm 240. The transducer 210 is removably connected to the medical instrument 230. This is convenient for updating and maintaining the instruments in the surgical robot 200.

[0067] Returning to FIG. 1, in other embodiments of the present application, the activation device is not attached to the medical device, but may employ, for example, other voice or gesture controlled or physical trigger devices integrated or externally connected to the energy generator 220, and may employ additional protection mechanisms to avoid random triggering.

[0068] As is well known to those skilled in the art, the activation of the energy generator refers to a state in which the energy generator is activated. For example, after the transducer and the medical device are disconnected and reconnected, or when the medical device needs to be cleaned, the energy generator needs to be activated so that the medical device can be self-tested or cleaned. Compared with the conventional surgical robot, when the energy generator needs to be activated in the surgical robot of the present application, a doctor next to the patient can directly activate the energy generator by the operating member and the induction signal generator provided on the medical device to generate energy and perform the corresponding target operation.

[0069] The present application further provides a control system for a surgical robot, which includes a medical device, an activation device, a transducer 210, and an energy generator 220. The activation device can be triggered to generate an induction signal. According to a specific embodiment of the present application, after receiving the induction signal, the main control unit 221 of the energy generator 220 obtains the induction signal, and performs the following: determining whether the self-test operation of the medical device is completed; if the self-test operation is completed, triggering a vibration frequency signal; and if the self-test operation is not completed, starting a self-test.

[0070] Here, the main control unit of the energy generator performing a self-test includes obtaining connectivity information between a medical device and a transducer, and / or obtaining device status information of the medical device, and / or obtaining device pre-stored information of the medical device.

[0071] Here, in one embodiment, the self-test further includes: not triggering the vibration frequency signal when the medical device status information is obtained that the device execution side is closed; triggering the vibration frequency signal and starting function detection of the medical device when the medical device status information is obtained that the device execution side is open; and making the device usable if the function detection of the medical device is successful; and making the device unusable if not.

[0072] Here, the pre-stored information of the medical device includes identification information of the medical device and the number of uses of the medical device.

[0073] Here, the main control unit controls the generator body to generate energy based on the vibration frequency signal and output it to the transducer, thereby allowing the transducer to vibrate at a constant vibration frequency.

[0074] In addition, when the medical device 230 needs to be cleaned during the operation of the surgical robot 200, the energy generator 220 can be activated to output energy to the transducer 210 through the above-mentioned operation steps, so that the medical device 230 vibrates. Specifically, when cleaning the ultrasonic knife head 370 during surgery, the doctor next to the patient presses the operation button to activate the energy generator 220, and the energy generator 220 outputs energy to the transducer 210. For example, the energy generator 220 outputs electrical energy (current or voltage) to the transducer 210 based on the induction signal, and the transducer 210 converts the electrical energy into mechanical energy to drive the ultrasonic knife head 370 to vibrate, and the doctor next to the patient further places the ultrasonic knife in a cleaning device for vibration cleaning.

[0075] The above operation of activating the energy generator 220 does not need to disconnect the connection between the energy generator 220 and the remote control station 250, so the operation process is smoother and more reasonable.

[0076] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of this application. The terms used herein are intended only to describe specific implementation purposes and are not intended to limit the present application. Terms such as "provide" that appear in this specification may mean that a member is directly attached to another member, or that a member is attached to another member via an intermediate member. In this specification, a feature described in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is applied to other embodiments or otherwise specified.

[0077] Although the present application has been described by the above embodiments, it should be understood that the above embodiments are for the purpose of illustration and description only, and are not intended to limit the scope of the present application to the described embodiments. However, those skilled in the art can make more variations and modifications based on the teachings of the present application, and all of these variations and modifications are within the scope of the protection sought by the present application. Cross-reference to Related Applications

[0078] This application claims priority to Chinese Patent Application No. 202210531435.3, entitled "Medical Device, Surgical Robot and Surgical Robot Control System," filed on May 16, 2022, the entire contents of which are incorporated herein by reference.

Claims

1. A medical device for use in a surgical robot, comprising a mechanical arm, a transducer and an energy generator, the transducer being electrically connected to the energy generator, the medical device being attached to the mechanical arm and used for connection with the transducer, A housing and an activation device provided in the housing and configured to be triggered to generate an induction signal, the activation device being configured to transmit the induction signal to the energy generator to cause the energy generator to generate energy; Medical equipment.

2. The activation device is configured as a physical trigger device; an induction signal generator provided in the housing; an operating member that is provided on the housing and configured not to protrude from an outer surface of the housing; the operating member is configured to trigger the induced signal generator to generate the induced signal when operated; The inductive signal generator transmits the inductive signal to the energy generator.

2. The medical device of claim 1.

3. The housing is configured to be partially recessed inward to define an operation area; The operation member is provided in the operation area of ​​the housing.

3. The medical device of claim 2.

4. The operating member is located on one side of the housing facing the mechanical arm. A medical device according to claim 2 or 3.

5. the operating member is provided on the housing so as to be movable between a first position at which the operating member does not trigger the induced signal generator and a second position at which the operating member triggers the induced signal generator; The medical device according to any one of claims 2 to 4.

6. The operation member includes an elastic connecting portion and a protrusion, and is connected to the housing by the elastic connecting portion; When the operating member is operated, the elastic connection portion deforms to drive the protrusion portion to move from the first position to the second position.

6. The medical device according to claim 5.

7. the induction signal generator is a key switch; The operation member is an operation button embedded in the housing.

7. The medical device according to claim 6.

8. The operation surface of the operation button is configured to be flush with the outer surface of the housing.

8. The medical device of claim 7.

9. The operation surface of the operation button is configured to be at least partially recessed into the housing.

8. The medical device of claim 7.

10. The activation device is configured to be electrically connected to the energy generator by a wired or wireless connection. The medical device according to any one of claims 1 to 9.

11. the activation device is connected to the transducer to transmit the induced signal to the energy generator by the transducer; The medical device according to any one of claims 1 to 9.

12. The housing further includes a stylus connection device including a stylus and a contact; One of the stylus and the contacts is provided on the housing so as to be electrically connected to the activation device, and the other of the stylus and the contacts is used to be provided on the transducer; The housing is provided with a transducer interface; When the transducer is attached to the transducer interface, the stylus is electrically connected to the contacts.

12. The medical device of claim 11.

13. further comprising an ultrasonic knife assembly or vessel sealer; A medical device according to any one of claims 1 to 12.

14. A surgical robot comprising a mechanical arm, a transducer, an energy generator and the medical instrument according to any one of claims 1 to 13, the medical device is removably attached to the mechanical arm; the transducer is electrically connected to the energy generator and removably connected to the medical device; the energy generator is configured to receive the inductive signal and generate energy based on the inductive signal. Surgical robot.

15. A control system for a surgical robot including a medical instrument, an activation device, a transducer, and an energy generator, The activation device may be attached to the medical device or may not be attached to the medical device and is configured to be triggered to generate an inducing signal; After the activation device is operated, the main control unit of the energy generator: Obtaining an induction signal and determining whether a self-test operation of the medical device is completed; triggering a vibration frequency signal when the self-test operation is completed; if the self-test operation is not completed, initiating the self-test; and Control system for surgical robot.

16. The main control unit of the energy generator performs a self-test, Obtaining connectivity information between the medical device and the transducer; and / or acquiring status information of the medical device; and / or acquiring pre-stored information of the medical device. The surgical robot control system of claim 15.

17. The state information of the medical device includes physical state information of the device execution side; The surgical robot control system of claim 16.

18. The pre-stored information of the medical device includes identification information of the medical device and a number of uses of the medical device. A control system for a surgical robot according to any one of claims 15 to 17.

19. The activation device is configured as a physical trigger device, a voice control device, or a gesture control device. A control system for a surgical robot according to any one of claims 15 to 18.

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