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 particularly 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 energy generator before use, while handheld ultrasonic knife instruments Starting device Self-test operation can be performed by connecting to an external device. Only devices that pass the self-test can be Start can be used during surgery.

[0003] In the case of conventional minimally invasive robotic surgical instruments, before using the ultrasonic knife instrument, the user must first insert a needle into the instrument, which is connected to an energy generator. Starting device Only by Start When performing a self-test, first disconnect the energy generator from the main control console of the minimally invasive surgical robot system, then Starting device After the self-test is complete, Starting device and reconnecting the energy generator to the main control console, control of the energy generator and ultrasonic knife instrument by the physician at the main control console is realized.

[0004] In addition, during the process of using the surgical robot ultrasonic knife instrument, the user Start In conventional minimally invasive surgical robot systems, the energy generator must be disconnected from the main control console again before cleaning can be performed. Starting device After the cleaning operation is completed, Starting device This design, on the other hand, allows the energy generator to Start ensuring that the ultrasonic knife instrument can be used and controlled by the master control platform only after the StartThis is to prevent a situation in which the device and the robot system control the energy generator at the same time.

[0005] However, in the above scenario, Start Switching the connection between the device and the robot system controller and the energy generator will interrupt the operation process of the first user and affect the user experience. Start The device needs to be removed from the energy generator alternately, which is usually achieved by a cable, plug and interface to ensure the connection effect. Frequent insertion and removal operations will lead to the loosening of the connection between the interface and the plug, affecting the safety of the connection, on the one hand, shortening the life of the surgical robot device, and on the other hand, posing a threat to the safety of the patient. Summary of the Invention

[0006] The Summary of the Invention introduces a set of concepts in a simplified form, which will be explained 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 essential technical features of the technical means for which protection is claimed, nor is it intended to specify the scope of protection of the technical means for which protection is claimed.

[0007] According to a first aspect of the present application, there is provided a medical device for use in a surgical robot, the medical device 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 for connection with the transducer, the medical device including a housing and a trigger provided in the housing and configured to be triggered to generate an induction signal. Start An apparatus configured to transmit an inductive signal to an energy generator to cause the energy generator to generate energy. Start A medical device is disclosed that includes a device.

[0008] In this application, the medical device of the surgical robot is: Startmedical equipment, including Start By operating the device, an inductive signal can be transmitted to the energy generator, which then generates energy and Start will be done.

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

[0010] In this 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 inward 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 this 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 a resilient connection and a protrusion, and is connected to the housing by the resilient connection, and when the operating member is operated, the resilient connection drives the protrusion to deform and move from the first position to the 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, thereby ensuring safety.

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

[0021] In some embodiments, Start The device is connected to a transducer, which transmits an inductive signal to an energy generator.

[0022] In some embodiments, the housing further comprises a stylus connection device including a stylus and a contact, wherein one of the stylus and the contact is: Start The stylus is provided on the housing so as to be electrically connected to the device, and either the stylus or the contact is used to be provided on the transducer, and 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 contact.

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

[0024] According to a second aspect of the present application, there is disclosed a surgical robot including 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 induction signal and generate energy based on the induction signal.

[0025] The surgical robot of the present application includes an energy generator, a transducer, a mechanical arm, and the above-mentioned medical instrument of the present application, and the energy generator is used in the process of use. Start If it is necessary to stimulate the patient, the patient's physician may directly control the energy generator through the medical device. Start Therefore, there is no need to frequently switch the connection state between the energy generator and the remote control base, 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 base, which further improves the connection safety between the energy generator and the remote control base, and ultimately improves the service life of the entire surgical robot device.

[0026] According to a third aspect of the present application, there is provided a medical device, Start 1. A control system for a surgical robot including a device, a transducer, and an energy generator, Start the device may or may not be attached to the medical device and is configured to be triggered to generate an inductive signal; StartA control system for a surgical robot is disclosed in which, after the device is operated, the main control unit of the energy generator obtains the induction signal and determines whether the self-test operation of the medical device is completed, triggers a vibration frequency signal if the self-test operation is completed, and starts the self-test if the self-test operation is not completed.

[0027] The control system of the surgical robot of the present application is Start The apparatus includes: Start Triggering the device generates an induction signal, which activates the energy generator. Start After the main control unit receives the induction signal, it will first perform self-test and verification, which is of practical significance 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 identification of the medical device and a number of uses of the medical device.

[0031] In some embodiments, Start The device may be configured as a physical trigger device, a voice control device, or a gesture control device. [Brief explanation 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 embodiments of the present application and their illustrations to explain the principles of the present application.

[0033]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

[0034] In the following description, many specific details are presented to provide a more complete understanding of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced without one or more of these details. In other instances, some technical features that are well known in the art are not described to avoid confusion with 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 so that the disclosure of the present application will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. Obviously, 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 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 terminology used herein is intended to describe specific embodiments only and is not intended to limit the exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly dictates otherwise. It should also be understood that when the terms "comprise" and / or "comprises" 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. Also, for example, the term "first member" does not itself imply the existence of a "second member," and the term "second member" does not itself imply the existence of a "first member."

[0038] It should be noted that terms such as "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used herein 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 are provided medical devices for use in surgical robots and surgical robots equipped with the same.

[0041] To more accurately understand the technical solution of the present application, a surgical robot will be first introduced. As shown in Figures 1 and 2, in a specific embodiment, a 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 attached 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. 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 via a cable. The energy generator 220 includes a main control unit 221 and a generator main body (not shown). The main control unit 221 can control the generator main 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 a remote control console 250. A doctor located near the remote control console 250 can input control commands to the main control unit 221, thereby controlling 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 console 250 via 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 between the main control unit 221 and the remote control console 250, in any embodiment, as shown in FIGS. 3 to 5, the medical device 230 according to the present application includes a housing 340 and a Start and a device.

[0045] In some embodiments, Start The device is realized by a physical trigger device. Start The device specifically includes an induction signal generator and an operating member 310 .

[0046] The induction signal generator is provided in the housing 340. The operating member 310 is provided in the housing 340 and is configured not to protrude from the outer surface of the housing 340. When operated, the operating member 310 can trigger the induction signal generator to generate an induction signal. The induction signal generator transmits an induction 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 induction signal generator can transmit an induction signal to the energy generator 220. Start By designing the operating member 310 to be hidden, it is possible to prevent the user from accidentally touching the operating member 310 and ensure the safety of the medical device 230 during use. Those skilled in the art can flexibly select and configure the operating member 310 based on the role of the induction signal generator.

[0048] Specifically, the induction signal generator is electrically connected to the main control unit 221. The main control unit 221 controls the energy generator 220 based on the induction signal. Start By controlling the energy generator 220, the generator body can be controlled 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 (doctor next to a patient) who is 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 operating, the recessed operation area 340a makes it difficult for a doctor next to the patient to come into contact with the operation member 310.

[0051] As shown in FIGS. 5 and 6, in this embodiment, the induction signal generator employs a key switch, and the operating member 310 is an operation button. The operation button is embedded in the housing 340, and the key switch is provided in the switch base 360. In other words, the housing 340 has a through-hole structure for embedding the operation button. The housing 340 has a space for accommodating the operation button. Pressing the operation button can trigger the key switch in the housing 340 to generate an induction 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 components of the surgical robot 100, further ensuring safety.

[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, further preventing 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 mounted on the housing 340. Specifically, the operating member 310 can move between a first position in which the operating member 310 does not trigger the induced signal generator and a second position in which the operating member 310 triggers the induced signal generator. With reference to FIGS. 7 and 8, the operating member 310 further includes an elastic connecting portion and a protrusion. 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, allowing the protrusion of the operating member 310 to move from the first position to the second position. The elastic connecting portion is made of an elastic material.

[0056] 7, the operating member 310 is an operating button connected to the housing 340 by a resilient connector 310b on the top or bottom. When the operating surface 310a of the operating button is pressed, the resilient connector 310b is deformed, causing the operating button as a whole to tilt slightly inward from the connection position between the resilient connector 310b and the housing 340, and the protrusion 310c comes into contact with the key switch, triggering the key switch to generate an induction signal. When the operating surface 310a is released, the operating button as a whole returns to its original position (i.e., rotates outward from the connection position between the resilient connector 310b and the housing 340 until it returns to its original position).

[0057] In the embodiment shown in FIG. 8, the operating member 310 is an operating button fixed to the housing 340 by an elastic connector 310b'. The elastic connector 310b' includes two L-shaped structures arranged symmetrically around the center. The L-shaped structures are made of an elastic material. When the operating surface 310a of the operating button is pressed from the outside of the housing 340, the elastic connectors 310b' of the two L-shaped structures located inside the housing 340 simultaneously deform, causing the protrusions 310c' to be offset toward the inside of the housing 340 and contact the key switch, triggering the key switch to generate an induction signal. When the operating surface 310a is released, the operating button returns to its original position due to the elastic force generated by the deformation of the elastic connectors 310b', and the protrusions 310c' no longer contact the key switch. Compared to the embodiment shown in FIG. 7, the two L-shaped structures arranged symmetrically around the center as the elastic connectors 310b' make the movement of the operating button more stable and reliable.

[0058] A support portion 340b for supporting the operating member 310 is further formed inside the housing 340. Referring to Figures 7 and 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 indicate the form of signal transmission. In 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 may transmit the inductive signal to the main control unit 221.

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

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

[0062] Specifically, the housing is further provided with a stylus connection device including a stylus and a contact. One of the stylus and the contact is provided on the housing to be electrically connected to the induction signal generator, and 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 to 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 connection device is a convenient electrical connector, and those skilled in the art can flexibly set the type of electrical connector according to actual situations.

[0063] In the embodiment shown in Figure 6, the key switch is electrically connected to the transducer 210 by a stylus connecting device. The stylus connecting device is provided on 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, contacts of the stylus connecting device are provided on 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 contacts, and the key switch is electrically connected to the transducer 210.

[0064] In this embodiment, the medical device 230 further includes an ultrasonic knife assembly. As shown in FIG. 4, the ultrasonic knife assembly includes an ultrasonic knife head 370 at its lower end. The ultrasonic knife assembly is connected to the transducer 210. The transducer 210 converts the energy output from the energy generator 220 into mechanical vibrations and transmits them 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 completes the corresponding treatment. A doctor located at the remote control platform 250 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 a vascular sealer.

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

[0067] Returning to FIG. 1, in another embodiment of the present application, Start The device may employ other voice or gesture controls or physical trigger devices not attached to the medical device, for example integrated into or externally connected to the energy generator 220, and may employ additional protection mechanisms to avoid random triggering.

[0068] In addition, the energy generator Start is the state in which the energy generator is activated, as is well known to those skilled in the art. For example, after disconnecting and reconnecting the transducer and medical device, or when the medical device requires a cleaning operation, Start Self-examination or Start Each one has an energy generator to ensure effective cleaning. Start In comparison with conventional surgical robots, the surgical robot of the present invention uses an energy generator. Start When it is necessary to operate the energy generator, the doctor next to the patient can directly operate the energy generator by using the operating member and the induction signal generator provided on the medical device. Start By doing so, energy is generated, which allows the corresponding target operation to be performed.

[0069] According to the present application, medical devices, Start A control system for a surgical robot including the device, a transducer 210, and an energy generator 220 is further provided. StartThe device can be triggered to generate the 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 acquires the induction signal and determines whether the self-test operation of the medical device is completed, and if the self-test operation is completed, triggers the vibration frequency signal, and if the self-test operation is not completed, starts the self-test.

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

[0072] Here, the pre-stored information of the medical device includes the identification information of the medical device and the number of times the medical device has been used.

[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, if the medical instrument 230 needs to be cleaned during the operation of the surgical robot 200, the energy generator 220 can be cleaned by the above-mentioned operation steps. StartThe ultrasonic knife head 370 can be cleaned during surgery by a doctor next to the patient, who can then press the operation button to activate the energy generator 220. Start 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 induced signal, the transducer 210 converts the electrical energy into mechanical energy and drives the ultrasonic knife head 370 to vibrate, and a doctor next to the patient further places the ultrasonic knife in a cleaning device to perform vibration cleaning.

[0075] Energy generator 220 Start The above operation does not require disconnecting the energy generator 220 from the remote control base 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. 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 not 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 explanation only and are not intended to limit the scope of the present application to the described embodiments. It should be noted that those skilled in the art can make many 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.

[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, wherein the transducer is electrically connected to the energy generator, the medical device being attached to the mechanical arm and used to connect to the transducer, The 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; The induction signal is configured to cause a main control unit of the energy generator to initiate a self-test of the medical device based on the induction signal; The self-test includes: generating a first vibration frequency signal based on the induced signal; the energy generator generates energy based on the first vibration frequency signal and outputs the energy to the transducer, thereby vibrating the transducer so as to perform a function test of the medical device. Medical equipment.

2. The induction signal is arranged to cause a main control unit of the energy generator to: Obtaining an induction signal and determining whether the self-test operation of the medical device is completed; triggering a second vibration frequency signal if the self-test operation is completed; if the self-test operation is not completed, initiating the self-test; The medical device of claim 1 .

3. The induction signal is arranged to cause the main control unit of the energy generator to perform the following self-tests: obtaining connectivity information between the medical device and the transducer; and / or obtaining status information of the medical device; and / or acquiring pre-stored information of the medical device. The medical device of claim 1 .

4. A medical device for use in a surgical robot, comprising a mechanical arm, a transducer, and an energy generator, wherein the transducer is electrically connected to the energy generator, the medical device being attached to the mechanical arm and used to connect with the transducer, The 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; The activation device is an induction signal generator provided in the housing; an operating member located on one side of the housing facing the mechanical arm, the operating member is configured to trigger the induction signal generator to generate the induction signal when operated; the induction signal generator transmits the induction signal to the energy generator; Medical equipment.

5. The operating member is provided on the housing and is configured not to protrude from the outer surface of the housing. The medical device according to claim 4.

6. 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. The medical device according to claim 5.

7. 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 claim 4.

8. the operating 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 connecting portion deforms to drive the protrusion portion to move from the first position to the second position, the induction signal generator is a key switch; The operation member is an operation button embedded in the housing. The medical device of claim 7.

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

9. The medical device of claim 8.

10. The activation device is configured to be electrically connected to the energy generator by a wired or wireless connection. The medical device of claim 1.

11. 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 to connect with the transducer, The 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; the activation device is connected to the transducer, thereby transmitting the induction signal to the energy generator via the transducer; Medical equipment.

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; The medical device of claim 1.

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.

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