Medical devices, surgical robots, and control systems for surgical robots

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] This application generally relates 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 Art

[0002] For safety reasons, it is necessary to connect an ultrasonic knife transducer and an energy generator before using a conventional ultrasonic knife surgical instrument, and a self-check operation can be performed by externally connecting a handheld ultrasonic knife instrument. Only the instrument that passes the self-check can be Starting device used during surgery. Start

[0003] In the case of a conventional minimally invasive robotic surgical instrument, before using the ultrasonic knife instrument, the user can only perform a self-check by Starting device means of Start When performing a self-check, first disconnect the connection between the energy generator and the main control console of the minimally invasive surgical robot system, and connect the energy generator and Starting device After the self-check is completed, remove this Starting device and reconnect the energy generator to the main control console, so that the doctor on the main control console side can control the energy generator and the ultrasonic knife instrument.

[0004] Also, during the process of using a surgical robot ultrasonic knife instrument, the user needs to perform a cleaning operation after Start the instrument. In a conventional minimally invasive surgical robot system, it is necessary to disconnect the connection between the energy generator and the main control console again and connect Starting device After the cleaning operation is completed, Starting device remove it and reconnect the energy generator and the main control console. Such a design, on the one hand, ensures that the use and control of the ultrasonic knife instrument by the main control console are possible only after the energy generator is Start operated, StartThis is to prevent a situation from occurring where the device and the robot system control the energy generator simultaneously.

[0005] However, in the above usage scenarios, Start Switching the connection operation between the device and robot system control device and the energy generator interrupts the first user's operation process and affects the user experience. Next, the main control console and Start The device needs to be alternately disconnected from the energy generator, and to ensure the connection is effective, this is usually achieved by cables, plugs, and interfaces. Frequent plugging and unplugging can lead to loosening of the connection between the interface and the plug, affecting the security of the connection, shortening the lifespan of the surgical robot device, and posing a threat to patient safety. [Overview of the Initiative]

[0006] The summary section of the invention introduces a set of simplified concepts, which will be described in more detail in the section on embodiments for carrying out the invention. The summary section of the invention of this application does not aim to define the essential and necessary technical features of the technical means for which protection is sought, nor does it aim to specify the scope of protection of the technical means for which protection is sought.

[0007] According to a first aspect of the present application, a medical device used 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 for connection with the transducer, comprising a housing and provided in the housing and configured to be triggered and capable of generating an induction signal Start A device configured to transmit an inductive signal to an energy generator in order to generate energy in the energy generator. Start A medical device including an apparatus is disclosed.

[0008] In this application, the medical device of the surgical robot is, StartIncluding the device, medical device Start By operating the device, an induction signal can be transmitted to the energy generator, so the energy generator generates energy. Start It will be done.

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

[0010] In this invention, when the medical device is attached to a surgical robot, the operating members are not exposed, thus preventing the user from accidentally coming into contact with the operating members and ensuring the safety of the medical device during use.

[0011] In some embodiments, the housing is configured to be partially recessed inward to form 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 invention, when the medical device is attached to the mechanical arm, the back of the housing faces the mechanical arm, and the operating member is hidden on the back of the housing, thus preventing accidental contact by the user.

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

[0015] In some embodiments, the operating member includes an elastic connection portion and a protruding portion, and is connected to the housing by the elastic connection portion. When the operating member is operated, the elastic connection portion is deformed to drive the protruding portion to 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 at least partially recess into the housing.

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

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

[0021] In some embodiments, Start The device is connected to the transducer to transmit the induction signal to the energy generator by the transducer.

[0022] In some embodiments, the housing is further provided with a stylus connection device including a stylus and a contact. Either one of the stylus and the contact is Start Provided on the housing so as to be electrically connected to the device, and either the other of the stylus and the contact is used for being 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 contact.

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

[0024] According to a second aspect of the present application, there is provided a surgical robot including a mechanical arm, a transducer, an energy generator, and the above-mentioned medical device. The medical device is removably attached to the mechanical arm. The transducer is electrically connected to the energy generator and is removably connected to the medical device. 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 device of the present application. When it is necessary to operate the energy generator during use, the doctor on the patient side can directly cause the energy generator to generate energy by means of the medical device, without the need to frequently switch the connection state between the energy generator and the remote control console. The operation process is smoother and more reasonable. Based on this, since there is no need to frequently insert and remove the plug and interface between the energy generator and the remote control console, the connection safety between the energy generator and the remote control console is further improved, and thus the service life of the entire surgical robot device is improved. Start When necessary, Start by causing the energy generator to generate energy directly by means of the medical device, there is no need to frequently switch the connection state between the energy generator and the remote control console. The operation process is smoother and more reasonable.

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

[0027] The control system for the surgical robot of this invention is Start Including the device, Start By triggering the device, an induction signal is generated, thereby controlling the energy generator. Start The main control unit, after acquiring the induction signal, first performs a self-test and verification. The actual significance of this is to ensure that the medical device is used only after the self-test is complete.

[0028] In some embodiments, the self-checking of 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 status information of the medical device includes the physical status information of the device execution side.

[0030] In some embodiments, the pre-stored information of the medical device includes identification information of the medical device and the number of times the medical device has been used.

[0031] In some embodiments, Start The device is configured as a physical trigger device, an audio control device, or a gesture control device. [Brief explanation of the drawing]

[0032] The following drawings of embodiments of the present application are used herein as part of the present application for the purpose of understanding the present application. The drawings show embodiments of the present application and their descriptions in order to illustrate the principles of the present application.

[0033]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

[0034] The following description provides many specific details to give a more complete understanding of the present application. However, it will be obvious to those skilled in the art that embodiments of the present application can be carried out without one or more of these details. In other examples, some technical features that are well known in the art are not described in order to avoid confusion with embodiments of the present application.

[0035] 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 thorough and complete, and to fully convey the concept of these exemplary embodiments to those skilled in the art. Clearly, the implementation of the embodiments of the present application is not limited to specific details well known to those skilled in the art. Preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may have other embodiments.

[0036] It should be noted that the terms used herein are intended solely to describe specific embodiments and are not intended to limit the exemplary embodiments based on this application. Where used herein, the singular form is also intended to include the plural form unless the context explicitly indicates otherwise. Furthermore, where the terms “included” and / or “contain” are used herein, they indicate 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] The ordinal numbers such as "first" and "second" cited in this application are merely indicators and do not have any other meaning, such as a specific order. Furthermore, for example, the term "first member" itself does not imply the existence of a "second member," nor does the term "second member" itself imply the existence of a "first member."

[0038] The terms and similar expressions used in this specification, such as "up," "down," "front," "back," "left," "right," "inside," and "outside," are for illustrative purposes only and are not limiting.

[0039] Exemplary embodiments based on this application will now be described in more detail with reference to the drawings.

[0040] According to this application, a medical device used in a surgical robot and a surgical robot equipped therewith are provided.

[0041] To better understand the technical means of this invention, we will first introduce the surgical robot. 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. 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 the 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 communicably connected to a remote control console 250. A physician located on the remote control console 250 can input control commands to the main control unit 221, and by inputting different control commands to the energy generator 220, can control the state of the medical device 230. Specifically, the main control unit 221 is connected to the remote control console 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 invention, the mechanical arm 240, medical device 230, energy generator 220, and transducer 210 are all located next to the patient, but the remote control stand 250 is located at a distance from the patient.

[0044] Based on this connection configuration between the main control unit 221 and the remote control stand 250, as shown in Figures 3 to 5, in any embodiment, the medical device 230 according to the present application comprises a housing 340 and a unit attached to the housing 340. Start Includes the apparatus.

[0045] In some embodiments, Start The device is implemented by a physical trigger mechanism. Refer to Figure 2. Start The device specifically includes an induction signal generator and an operating member 310.

[0046] The induction signal generator is located in the housing 340. The operating member 310 is located 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 invention, 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. This allows the energy generator 220 to Start By designing the operating member 310 to be concealed, it is possible to prevent the user from accidentally coming into contact with the operating member 310 and to ensure the safety of the medical device 230 during use. Those skilled in the art can flexibly select and configure the induction signal generator based on its role.

[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 doing so, the generator unit can be controlled to generate energy and output it to the transducer 210. For example, the energy generator 220 outputs a current or voltage to the transducer 210 based on an induction signal.

[0049] Referring to Figure 3, the operating member 310 is located on one side of the housing 340 that is close to the mechanical arm 240. This prevents a physician (a physician next to the patient) who is close to one side of the medical device 230 from accidentally coming into contact with the operating member 310 during operation. This ensures the safety of the medical device 230 during use.

[0050] As shown in Figures 4 and 5, the housing 340 is configured to be partially recessed inward to form an operating area 340a. The operating member 310 is located in the operating area 340a of the housing 340. When the surgical robot 200 is working, the recessed operating area 340a makes it difficult for a physician next to the patient to come into contact with the operating member 310.

[0051] As shown in Figures 5 and 6, in the embodiment of the present invention, the induction signal generator employs a key switch, and the operating member 310 is an operating button. The operating button is embedded in the housing 340, and the key switch is provided on the switch seat 360. In other words, the housing 340 has a through-hole structure for embedding the operating button. The housing 340 is provided with space for housing the operating button. By pressing the operating button, the key switch inside the housing 340 can be triggered to generate an induction signal.

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

[0053] In the embodiment shown in Figure 6, the operating surface 310a of the operating button is configured as a substantially circular surface. The operating button is recessed such that the operating surface 310a of the operating 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 operating button 310 will not collide with or interfere with other components of the surgical robot 100, thus further ensuring safety.

[0054] Alternatively, in other embodiments of the present invention, the operating surface 310a of the operating button may be configured to be flush with the outer surface of the housing 340. All of the operating button designs described above are intended to conceal the operating button and further prevent a doctor next to the patient from accidentally touching the operating 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 that does not trigger the induction signal generator and a second position that triggers the induction signal generator. Referring to Figures 7 and 8, the operating member 310 further includes an elastic connector and a protrusion. The operating member 310 is connected to the housing 340 by the elastic connector. When the operating member 310 is operated, the elastic connector can deform, so that the protrusion of the operating member 310 can move from the first position to the second position. The elastic connector is made of an elastic material.

[0056] In the embodiment shown in Figure 7, the operating member 310 is an operating button connected to the housing 340 by an elastic connector 310b provided on the top or bottom side. When the operating surface 310a of the operating button is pressed, the elastic connector 310b deforms, causing the operating button as a whole to tilt slightly inward relative to the connection point between the elastic connector 310b and the housing 340, and the protruding portion 310c contacts the key switch, triggering the key switch and generating 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 relative to the connection point between the elastic connector 310b and the housing 340 until it returns to its original position).

[0057] In the embodiment shown in Figure 8, the operating member 310 is an operating button fixed to the housing 340 by an elastic connecting portion 310b'. The elastic connecting portion 310b' includes two L-shaped structures symmetrically arranged in the center. These 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 connecting portions 310b' of the two L-shaped structures located inside the housing 340 deform simultaneously, causing the protruding portion 310c' to be offset inward from the housing 340 and contact the key switch, thereby triggering the key switch and generating an induction signal. When the operating surface 310a is released, the operating button is restored by the elastic force generated by the deformation of the elastic connecting portion 310b', and the protruding portion 310c' no longer contacts the key switch. Compared to the embodiment shown in Figure 7, by providing the two L-shaped structures symmetrically in the center as the elastic connecting portion 310b', the movement of the operating button can be made more stable and reliable.

[0058] Inside the housing 340, a support portion 340b is further configured to support the operating member 310. Referring to Figures 7 and 8, the housing 340 partially protrudes inward to accommodate the support portion 340b.

[0059] Optionally, the induction signal generator is configured to be electrically connected to the energy generator 220 by a wired or wireless connection. Returning to Figure 2, the arrows in Figure 2 represent the signal transmission modes. In a feasible configuration, the induction signal generator of the medical device 230 can directly transmit induction signals to the main control unit 221 of the energy generator 220. In Figure 2, the induction signal generator may be electrically connected to the transducer 210, and the transducer 210 may then transmit induction signals to the main control unit 221.

[0060] In some other embodiments, Start The device may not employ the aforementioned control buttons, but instead have the switch keys of the key switch directly positioned on the housing and designed with a recessed structure to prevent accidental contact.

[0061] In the embodiment of the present application, the induction 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 induction signal generator can transmit an induction 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 contacts. Either the stylus or the contacts is provided in the housing to be electrically connected to an induction signal generator, and the other of the stylus or contacts is provided in a 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 contacts. In other words, when the contacts are provided in the housing, the stylus is provided in the transducer. When the stylus is provided in the housing, the contacts are provided in 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 the actual situation.

[0063] In the embodiment shown in Figure 6, the key switch is electrically connected to the transducer 210 by a stylus connector. The stylus connector 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 mounted on a mounting base in the transducer interface 350 of the housing 340. The key switch is electrically connected to the stylus 330 by a cable 320. Correspondingly, the contacts of the stylus connector are provided on the transducer 210. When the transducer 210 is mounted on the mounting base 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 Figure 4, the ultrasonic knife assembly includes an ultrasonic knife head 370 at the lower end. The ultrasonic knife assembly is connected to a transducer 210. The transducer 210 can convert the energy output from the energy generator 220 into mechanical vibrations and transmit 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 vibrations of the ultrasonic knife head 370 completes the corresponding treatment. A physician located on the remote control stand 250 can control and adjust the vibration frequency of the ultrasonic knife by inputting different control commands to the main control unit 221.

[0065] Furthermore, the medical device 230 of this application may include other medical devices that require energy generation, such as a vascular sealer.

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

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

[0068] Furthermore, the energy generator Start This 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 the medical device, or when cleaning the medical device is required, the medical device Start Self-examination or Start To enable cleaning, each uses an energy generator. Start An operation to perform this operation is required. Compared to conventional surgical robots, the surgical robot of this invention has an energy generator. Start If necessary, the physician next to the patient can directly operate the energy generator using the operating components and induction signal generators provided on the medical device. Start By doing so, energy is generated, which allows the corresponding target operation to be performed.

[0069] According to this application, medical devices, Start A control system for the surgical robot, including the apparatus, transducer 210, and energy generator 220, is further provided. StartThe device can be triggered to generate an induction signal. According to a specific embodiment of the present invention, the main control unit 221 of the energy generator 220 receives an induction signal, acquires the induction signal, determines whether the self-test operation of the medical device is complete, triggers a vibration frequency signal if the self-test operation is complete, and starts the self-test if the self-test operation is not complete.

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

[0071] In one embodiment, the self-test further includes not triggering a vibration frequency signal when the medical device status information indicates that the device execution side is closed, triggering a vibration frequency signal and initiating function detection of the medical device when the medical device status information indicates that the device execution side is open, and enabling the device to be used if the function detection of the medical device is successful, and rendering the device unusable otherwise.

[0072] Here, the pre-stored information for 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 enabling the transducer to vibrate at a constant vibration frequency.

[0074] Furthermore, if it is necessary to clean the medical device 230 during the surgical robot 200's operation, the energy generator 220 can be cleaned using the above-described operating steps. StartThis allows the transducer 210 to output energy, causing the medical device 230 to vibrate. 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. Start The energy generator 220 then outputs energy to the transducer 210. For example, the energy generator 220 outputs electrical energy (current or voltage) to the transducer 210 based on an induction signal, and the transducer 210 converts the electrical energy into mechanical energy, driving the ultrasonic knife head 370 to vibrate, allowing the physician next to the patient to further place the ultrasonic knife in the cleaning device for vibratory cleaning.

[0075] Energy generator 220 Start The above operation does not require disconnecting the connection between the energy generator 220 and the remote control unit 250, making the operation process smoother and more efficient.

[0076] Unless otherwise defined, technical and scientific terms used herein have the same meanings as those generally understood by those skilled in the art. Terms used herein are for illustrative purposes only and are not intended to limit the application. Terms such as “to provide” as used herein may mean that one component is directly attached to another component, or that one component is attached to another component via an intermediate component. In this specification, features described in one embodiment may be applied to another embodiment, alone or in combination with other features, unless otherwise indicated, or unless the feature is not applicable to other embodiments.

[0077] Although this application is described by the embodiments described above, it should be understood that these embodiments are for illustrative and illustrative purposes only and are not intended to limit this application to the scope of the embodiments described. Furthermore, those skilled in the art can make a wide variety of modifications and alterations based on the teachings of this application, all of which fall within the scope for which this application seeks protection.

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

Claims

1. A medical device used in a surgical robot, comprising a mechanical arm, a transducer, and an energy generator, wherein the transducer is electrically connected to the energy generator, and the medical device is attached to the mechanical arm and used for connection with the transducer, The casing and The activation device is provided in the housing and is configured to be triggered to generate an induction signal, and includes an activation device configured to transmit the induction signal to the energy generator in order to generate energy in the energy generator, The induction signal is configured such that the main control unit of the energy generator initiates a self-test of the medical device based on the induction signal. The aforementioned self-inspection is A first vibration frequency signal is generated based on the aforementioned induction signal. The energy generator generates energy based on the first vibration frequency signal and outputs it to the transducer, thereby causing the transducer to vibrate so that the functional test of the medical device can be performed. Medical devices.

2. The induction signal is arranged such that the main control unit of the energy generator performs the following: To acquire guidance signals and determine whether the self-test operation of the medical device has been completed, When the self-test operation is complete, the second vibration frequency signal is triggered, If the self-check procedure is not complete, this includes initiating the self-check, A medical device for a surgical robot according to claim 1.

3. The induction signal is arranged so that the main control unit of the energy generator performs the following self-check: To obtain 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, A medical device for a surgical robot according to claim 1.

4. A medical device used 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 for connection with the transducer, The casing and The activation device is provided in the housing and is configured to be triggered to generate an induction signal, and includes an activation device configured to transmit the induction signal to the energy generator in order to generate energy in the energy generator, The aforementioned activation (activation) device is An induction signal generator provided in the housing, The housing includes an operating member located on one side facing the mechanical arm, The operating member is configured to trigger the induction signal generator in order to generate the induction signal when it is operated. The induction signal generator transmits the induction signal to the energy generator. Medical devices.

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 in order to form an operating area. The operating member is provided in the operating area of ​​the housing. The medical device according to claim 5.

7. The operating member is provided in the housing so as to be movable between a first position that does not trigger the induction signal generator and a second position that triggers the induction signal generator. The medical device according to claim 4.

8. The operating member includes an elastic connecting portion and a protruding portion, and is connected to the housing by the elastic connecting portion. When the operating member is operated, the elastic connecting portion deforms and drives the protruding portion to move from the first position to the second position. The aforementioned induction signal generator is a key switch, The aforementioned operating member is an operating button embedded in the housing. The medical device according to claim 7.

9. The operating surface of the aforementioned operating button is configured to be flush with the outer surface of the housing, or at least partially recessed into the housing. The medical device according to 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 according to claim 1.

11. A medical device used 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 for connection with the transducer, The casing and The activation device is provided in the housing and is configured to be triggered to generate an induction signal, and includes an activation device configured to transmit the induction signal to the energy generator in order to generate energy in the energy generator, The activation device is connected to the transducer, and the transducer transmits the induction signal to the energy generator. Medical devices.

12. The housing is further provided with a stylus connection device including a stylus and contacts. Either the stylus or the contact is provided in the housing so as to be electrically connected to the activation device, and the other of the stylus or the contact is used to be provided in the transducer. The enclosure is provided with a transducer interface. When the transducer is attached to the transducer interface, the stylus is electrically connected to the contact. The medical device according to claim 11.

13. Further comprising an ultrasonic knife assembly or a vascular sealer, The medical device according to claim 1.

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

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