Surgical robot

Abstract

The present disclosure relates to the field of medical devices. Disclosed is a surgical robot. The surgical robot comprises: a first surgical tool; a second surgical tool; at least one energy generator, configured for providing energy for the first surgical tool and the second surgical tool, and the at least one energy generator comprising a first energy output end and a second energy output end; and a control apparatus, configured for controlling the output of a test signal, and determining, on the basis of the reception of the test signal by the first surgical tool and / or the second surgical tool, a correspondence between the first energy output end and the first surgical tool and a correspondence between the second energy output end and the second surgical tool.

Description

Surgical robot

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to the Chinese Patent Application with the application date of September 29, 2024, the application number of 2024113718061, and the invention title of “Surgical robot”, the Chinese Patent Application with the application date of March 28, 2025, the application number of 2025103790594, and the invention title of “Surgical robot”, and the Chinese Patent Application with the application date of April 22, 2025, the application number of 2025105050363, and the invention title of “Surgical robot”, the contents of all of the above applications are hereby incorporated by reference in their entirety. TECHNICAL FIELD

[0003] The present disclosure relates to the field of medical instruments, and in particular, to a surgical robot. BACKGROUND

[0004] Laparoscopic surgery is a surgical form that has been gradually developed and widely used in recent years, and has advantages such as small incision, which greatly reduces the patient's recovery time, discomfort experience, and postoperative side effects. Performing laparoscopic surgery through a surgical robot system can optimize the surgical form through computer remote control technology.

[0005] In surgery, two energy surgical tools are sometimes controlled by the left hand and the right hand respectively. When preparing the two energy surgical tools, wiring errors and the like may occur, which will have a negative impact on subsequent surgical operations. SUMMARY

[0006] In some embodiments, the present disclosure provides a surgical robot, comprising:

[0007] a first surgical tool;

[0008] a second surgical tool;

[0009] at least one energy generator configured to provide energy for the first surgical tool and the second surgical tool, and the at least one energy generator comprises a first energy output end and a second energy output end; and

[0010] a control device configured to control output of a test signal, and determine a correspondence between the first energy output end and the second energy output end and the first surgical tool and the second surgical tool based on reception of the test signal by the first surgical tool and / or the second surgical tool. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced. The drawings in the following description only show some embodiments of the present disclosure, and other embodiments can be obtained by those of ordinary skill in the art according to the contents of the embodiments of the present disclosure and the drawings without paying any creative effort.

[0012] FIG. 1 shows a structural schematic block diagram of a surgical robot according to some embodiments of the present disclosure;

[0013] FIG. 2 shows a structural schematic block diagram of a surgical robot according to some other embodiments of the present disclosure;

[0014] FIG. 3 shows a perspective schematic diagram of a surgical robot according to some embodiments of the present disclosure;

[0015] FIG. 4 shows a structural schematic block diagram of a surgical robot according to yet some other embodiments of the present disclosure;

[0016] FIG. 5 shows a structural schematic block diagram of a surgical robot according to still some other embodiments of the present disclosure;

[0017] FIG. 6 shows a structural schematic block diagram of a surgical robot according to some other embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, not all the embodiments.

[0019] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "coupling" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0020] In the present disclosure, the end close to the operator (e.g. a doctor) is defined as the proximal end, proximal part or rear end, rear part, and the end opposite to the proximal end, proximal part or rear end, rear part is defined as the distal end, distal part or front end, front part. Alternatively, the end close to the person being operated on (e.g. a surgical patient) is defined as the distal end, distal part or front end, front part, and the end opposite to the distal end, distal part or front end, front part is defined as the proximal end, proximal part or rear end, rear part. It will be appreciated by those skilled in the art that embodiments of the present disclosure can be used in medical instruments or surgical robots, or in other non-medical devices.

[0021] Some embodiments of the present disclosure provide a surgical robot 10. FIG. 1 shows a structural schematic block diagram of the surgical robot 10 according to some embodiments of the present disclosure. In some embodiments, the surgical robot 10 can include any suitable surgical robot such as a laparoscopic surgical robot. As shown in FIG. 1, the surgical robot 10 can include a first surgical tool 100, a second surgical tool 200, at least one energy generator 300 and a control device 400.

[0022] The first surgical tool 100 and the second surgical tool 200 can each be an energy surgical tool capable of achieving an energy surgical function. It will be appreciated by those skilled in the art that the energy surgical function refers to the ability to perform various suitable energy surgical operations such as bipolar coagulation operation, monopolar coagulation operation, monopolar cutting operation, etc. In some embodiments, the first surgical tool 100 and the second surgical tool 200 are each capable of achieving a bipolar function. In some embodiments, the first surgical tool 100 and the second surgical tool 200 can be any suitable type of energy surgical tool such as a bipolar grasping forceps, a bipolar curved dissecting forceps, a bipolar curved grasping forceps, etc.

[0023] As shown in FIG. 1, the at least one energy generator 300 can be connected with the first surgical tool 100 and the second surgical tool 200. The energy generator 300 can be used to provide energy to the first surgical tool 100 and the second surgical tool 200 to enable the first surgical tool 100 and the second surgical tool 200 to achieve an energy surgical function. In some embodiments, the energy generator 300 can be connected with the first surgical tool 100 and the second surgical tool 200 through high-frequency cables respectively to transmit energy.

[0024] As shown in FIG. 1, the at least one energy generator 300 can include a first energy output end 301 and a second energy output end 302. In some embodiments, the first energy output end 301 and the second energy output end 302 can each be a bipolar energy output end. They can be connected with the first surgical tool 100 and the second surgical tool 200 respectively to transmit bipolar energy to the first surgical tool 100 and the second surgical tool 200 respectively. In some embodiments, they can be connected with the first surgical tool 100 and the second surgical tool 200 through high-frequency cables respectively.

[0025] The control device 400 can be configured to control output of the test signal (e.g., the first test signal T1 and / or the second test signal T2), and determine the correspondence between the first energy output end 301 and the second energy output end 302 and the first surgical tool 100 and the second surgical tool 200 based on the reception of the test signal by the first surgical tool 100 and / or the second surgical tool 200.

[0026] In some embodiments, the control device 400 can be configured to control output of the first test signal T1. In some embodiments, the first test signal T1 can comprise first identification information, which can be used to identify the first energy output end 301, or to identify a first energy output link comprising the first energy output end 301, etc. In some embodiments, the control device 400 can be configured to determine that the first energy output end 301 has a correspondence with the first surgical tool 100 in response to the first surgical tool 100 receiving the first test signal T1. In other embodiments, the control device 400 can be configured to determine that the first energy output end 301 has a correspondence with the second surgical tool 200 in response to the second surgical tool 200 receiving the first test signal T1.

[0027] In some embodiments, the control device 400 can be configured to control output of the second test signal T2. In some embodiments, the second test signal T2 can comprise second identification information, which can be used to identify the second energy output end 302, or to identify a second energy output link comprising the second energy output end 302, etc. In some embodiments, the control device 400 can be configured to determine that the second energy output end 302 has a correspondence with the first surgical tool 100 in response to the first surgical tool 100 receiving the second test signal T2. In other embodiments, the control device 400 can be configured to determine that the second energy output end 302 has a correspondence with the second surgical tool 200 in response to the second surgical tool 200 receiving the second test signal T2.

[0028] In some embodiments, the control device 400 can be configured to output the test signal to the first surgical tool 100 and / or the second surgical tool 200, as shown in FIG. 1.

[0029] In some embodiments, the control device 400 can be configured to control output of the test signal by the control device 400 to the first surgical tool 100 and / or the second surgical tool 200.

[0030] In some embodiments, as shown in FIG. 1, the control device 400 can include a first control output 401 and a second control output 402. The first control output 401 has a corresponding relationship with the first energy output 301, and the second control output 402 has a corresponding relationship with the second energy output 302. In some embodiments, the first control output 401 can have a predetermined connection relationship with the first energy output 301. The second control output 402 can have a predetermined connection relationship with the second energy output 302.

[0031] As shown in FIG. 1, the first control output 401 and the second control output 402 can be communicatively connected with the first surgical tool 100 and the second surgical tool 200, respectively. The above connection relationship is only an example, and in other embodiments, the first control output 401 and the second control output 402 can be communicatively connected with the second surgical tool 200 and the first surgical tool 100, respectively.

[0032] The control device 400 can be configured to output a test signal (e.g., the first test signal T1 and / or the second test signal T2 as shown in FIG. 1) at the first control output 401 and / or the second control output 402, and determine the corresponding relationship between the first energy output 301 and the second energy output 302 and the first surgical tool 100 and the second surgical tool 200 based on the reception of the test signal by the first surgical tool 100 and / or the second surgical tool 200.

[0033] In some embodiments, the first control output 401 and the second control output 402 can be communicatively connected with the first surgical tool 100 or the second surgical tool 200 through a cable, respectively. The test signal can be transmitted to the first surgical tool 100 and / or the second surgical tool 200 through the cable.

[0034] In some embodiments, the control device 400 can be configured to output the first test signal T1 at the first control output 401. The first test signal T1 can include first identification information, which can be used to identify the first energy output 301 or the second control output 401, or to identify a first energy output link including the first control output 401 and the first energy output 301, etc. In some embodiments, the control device 400 can be configured to determine that the first energy output 301 has a corresponding relationship with the first surgical tool 100 in response to the first surgical tool 100 receiving the first test signal T1. In other embodiments, the control device 400 can also be configured to determine that the first energy output 301 has a corresponding relationship with the second surgical tool 200 in response to the second surgical tool 200 receiving the first test signal T1.

[0035] In some embodiments, the control device 400 can be further configured to determine, in response to the first surgical tool 100 or the second surgical tool 200 receiving the first test signal T1, that the first surgical tool 100 or the second surgical tool 200 has a corresponding relationship with the first control output end 401, and thus determine that the first surgical tool 100 or the second surgical tool 200 has a corresponding relationship with the first energy output end 301.

[0036] In some embodiments, the control device 400 can be configured to output a second test signal T2 at the second control output end 402. The second test signal T2 can include second identification information, which can be used to identify the second energy output end 302 or the second control output end 402, or to identify a second energy output link including the second control output end 402 and the second energy output end 302, etc. In some embodiments, the control device 400 can be configured to determine, in response to the first surgical tool 100 receiving the second test signal T2, that the second energy output end 302 has a corresponding relationship with the first surgical tool 100. In other embodiments, the control device 400 can be further configured to determine, in response to the second surgical tool 200 receiving the second test signal T2, that the second energy output end 302 has a corresponding relationship with the second surgical tool 200.

[0037] In some embodiments, the control device 400 can be further configured to determine, in response to the first surgical tool 100 or the second surgical tool 200 receiving the second test signal T2, that the first surgical tool 100 or the second surgical tool 200 has a corresponding relationship with the second control output end 402, and thus determine that the first surgical tool 100 or the second surgical tool 200 has a corresponding relationship with the second energy output end 302.

[0038] In some embodiments, the at least one energy generator 300 can include a single energy generator for providing energy to the first surgical tool 100 and the second surgical tool 200. In other embodiments, the at least one energy generator 300 can include a plurality of energy generators for providing energy to the first surgical tool 100 and the second surgical tool 200 respectively.

[0039] FIG. 2 shows a structural schematic block diagram of the surgical robot 10 according to some embodiments of the present disclosure. As shown in FIG. 2, in some embodiments, the at least one energy generator 300 can include a first energy generator 310 and a second energy generator 320. The first energy generator 310 can include a first energy output end 301, and the second energy generator 320 can include a second energy output end 302.

[0040] In some embodiments, the control device 400 can also be configured to determine the correspondence between the first energy generator 310 and the second energy generator 320 and the first surgical tool 100 and the second surgical tool 200 based on the reception of the test signals by the first surgical tool 100 and / or the second surgical tool 200, to determine the correspondence between the first energy output 301 and the second energy output 302 and the first surgical tool 100 and the second surgical tool 200. For example, as shown in FIG. 2, the control device 400 can be configured to determine that the first energy generator 310 has the correspondence with the first surgical tool 100 based on the reception of the first test signal T1 by the first surgical tool 100, to determine that the first energy output 301 has the correspondence with the first surgical tool 100; and determine that the second energy generator 320 has the correspondence with the second surgical tool 200 based on the reception of the second test signal T2 by the second surgical tool 200, to determine that the second energy output 302 has the correspondence with the second surgical tool 200.

[0041] FIG. 3 shows a perspective view of the surgical robot 10 according to some embodiments of the present disclosure. As shown in FIG. 3, in some embodiments, the surgical robot 10 can include a device trolley 11. The first control output 401 and the second control output 402 (not shown in FIG. 3, see FIG. 2) can be disposed on the device trolley 11. In some embodiments, the control device 400 can include an integrated controller, and can be disposed at any suitable position in the surgical robot 10, for example, in the device trolley 11. For another example, the control device 400 can include a plurality of distributed control units, and the plurality of distributed control units can be dispersedly disposed in the surgical robot 10, for example, at least part of the plurality of distributed control units can be disposed in the device trolley 11.

[0042] The first energy generator 310 and the second energy generator 320 can be disposed on the device trolley 11. Those skilled in the art can understand that the device trolley 11 can be used to place or integrate devices such as energy generators, to facilitate user operation. The first control output 401 and the second control output 402 disposed on the device trolley 11 can facilitate the user to connect them with devices such as the energy generator 300, thereby facilitating the control of the devices such as the energy generator 300.

[0043] In some embodiments, as shown in FIG. 2, the first control output 401 is communicatively connected with the first energy generator 310. The second control output 402 is communicatively connected with the second energy generator 320. In some embodiments, the first control output 401 and the second control output 402 can be connected with the control terminals of the first energy generator 310 and the second energy generator 320, respectively. In some embodiments, as shown in FIG. 3, the side where the first control output 401 and the second control output 402 are located is the front side of the device trolley 11, and the opposite side of the front side is the back side of the device trolley 11. The first control output 401 and the second control output 402 can be arranged on the back side of the device trolley 11, so as to be connected with the control terminals of the first energy generator 310 and the second energy generator 320 located on the back side.

[0044] In some embodiments, the control device 400 can be further configured to output a bipolar energy control signal Ebi at the first control output 401 to control the first energy generator 310 to output bipolar energy. In some embodiments, the control device 400 can be further configured to output a bipolar energy control signal Ebi at the second control output 402 to control the second energy generator 320 to output bipolar energy. In this way, the bipolar function of the first surgical tool 100 or the second surgical tool 200 can be realized.

[0045] In some embodiments, as shown in FIG. 3, the surgical robot 10 can further include a first trigger 1201 and a second trigger 1202. The first trigger 1201 and the second trigger 1202 can be used to receive a user trigger operation and generate a bipolar energy trigger signal based on the user trigger operation. In some embodiments, the first trigger 1201 and the second trigger 1202 can include a pedal as shown in FIG. 3, or can include any suitable form such as a button, a key, a knob, etc. The user trigger operation can include stepping on the pedal, pressing the button or the key, turning the knob, etc.

[0046] The control device 400 can be communicatively connected with the first trigger 1201 and the second trigger 1202. The control device 400 can be configured to output a bipolar energy control signal at the first control output 401 or the second control output 402 in response to a bipolar energy trigger signal from the first trigger 1201 or the second trigger 1202, so as to realize the bipolar function of the first surgical tool 100 or the second surgical tool 200.

[0047] In some embodiments, as shown in FIG. 3, the surgical robot 10 can further include a first master operator 121 and a second master operator 122. The first master operator 121 has a corresponding relationship with the first trigger 1201, and the second master operator 122 has a corresponding relationship with the second trigger 1202. In some embodiments, the first master operator 121 and the first trigger 1201 can have a predetermined corresponding relationship, and the second master operator 122 and the second trigger 1202 can have a predetermined corresponding relationship. In other embodiments, the control device 400 can be configured to determine that the first master operator 121 has a corresponding relationship with the first trigger 1201, and determine that the second master operator 122 has a corresponding relationship with the second trigger 1202.

[0048] In some embodiments, as shown in FIG. 3, the surgical robot 10 can further include a master console cart 12. The first master operator 121 and the second master operator 122 can be disposed on the master console cart 12 and used to receive user operations. The first trigger 1201 and the second trigger 1202 can be disposed on the master console cart 12. In some embodiments, the first master operator 121 and the second master operator 122 can be used to allow a user to issue control instructions by operating the first master operator 121 and the second master operator 122 to control the surgical tools (e.g., the first surgical tool 100, the second surgical tool 200, etc.) carried by the surgical cart 13 to perform surgical operations. During surgery, the master console cart 12 can be disposed on the user side to facilitate receiving user operations.

[0049] In some embodiments, as shown in FIG. 3, the first master operator 121 and the second master operator 122 can be disposed on the left and right sides of the master console cart 12, respectively, to facilitate receiving user operations of the left and right hands, respectively. The first trigger 1201 and the second trigger 1202 can be disposed on the left and right sides of the base of the master console cart 12, respectively, to facilitate the user's left foot and right foot operating the first trigger 1201 and the second trigger 1202, respectively.

[0050] In some embodiments, the control device 400 can be configured to determine that the first master operator 121 has a corresponding relationship with the first surgical tool 100, and / or determine that the second master operator 122 has a corresponding relationship with the second surgical tool 200. Based on this, the first master operator 121 can be used to allow a user to control the first surgical tool 100 to perform surgical operations by operating the first master operator 121, and the second master operator 122 can be used to allow a user to control the second surgical tool 200 to perform surgical operations by operating the second master operator 122.

[0051] In some embodiments, as shown in FIG. 3, the surgical robot 10 can further include an input device 123, which can be configured to receive a user input operation and generate a master operator configuration signal based on the user input operation. The control device 400 can be configured to determine that the first master operator 121 has a correspondence relationship with the first surgical tool 100 and / or determine that the second master operator 122 has a correspondence relationship with the second surgical tool 200 in response to the master operator configuration signal. In some embodiments, the input device 123 can include a touch display, and the user input operation can include a touch point selection on a key provided by the input device 123. In some embodiments, the input device 123 can be disposed on the hand rest 124 of the master console cart 12 to facilitate user operation. It can be understood by those skilled in the art that the above is only an example, and the input device 123 can include any suitable form such as an operating handle, a touchpad, etc., and the input device 123 can be disposed at any suitable position in the surgical robot 10.

[0052] In some embodiments, the first trigger 1201 has a correspondence relationship with the first master operator 121, and the first master operator 121 has a correspondence relationship with the first surgical tool 100, so that the first trigger 1201 can be used to trigger the implementation of the bipolar function of the first surgical tool 100.

[0053] In some embodiments, the control device 400 can be further configured to output a bipolar energy control signal Ebi at the first control output end 401 in response to the bipolar energy trigger signal from the first trigger 1201 and the first energy output end 301 has a correspondence relationship with the first surgical tool 100. In other embodiments, the control device 400 can be further configured to output a bipolar energy control signal Ebi at the second control output end 402 in response to the bipolar energy trigger signal from the first trigger 1201 and the second energy output end 302 has a correspondence relationship with the first surgical tool 200. Based on this, the control device 400 can enable the energy output end having a correspondence relationship with the first surgical tool 100 to output bipolar energy in response to the bipolar energy trigger signal from the first trigger 1201, so that the bipolar function of the first surgical tool 100 can be implemented.

[0054] In some embodiments, the second trigger 1202 has a correspondence relationship with the second master operator 122, and the second master operator 122 has a correspondence relationship with the second surgical tool 200, so that the second trigger 1202 can be used to trigger the implementation of the bipolar function of the second surgical tool 200.

[0055] In some embodiments, the control device 400 can also be configured to output a bipolar energy control signal Ebi at the first control output 401 in response to the bipolar energy trigger signal from the second trigger 1202 and the first energy output 301 has a corresponding relationship with the second surgical tool 200. In other embodiments, the control device 400 can also be configured to output a bipolar energy control signal Ebi at the second control output 402 in response to the bipolar energy trigger signal from the second trigger 1201 and the second energy output 302 has a corresponding relationship with the second surgical tool 200. Based on this, the control device 400 can cause the energy output having a corresponding relationship with the second surgical tool 200 to output bipolar energy in response to the bipolar energy trigger signal from the second trigger 1202, so that the bipolar function of the second surgical tool 200 can be realized.

[0056] Those skilled in the art can understand that the above embodiments are only examples, and in other embodiments, the first master operator 121 can have a corresponding relationship with the second surgical tool 200, and the second master operator 122 can have a corresponding relationship with the first surgical tool 100. The first trigger 1201 can be used for the user to realize the bipolar function of the second surgical tool 200 by operating the first trigger 1201, the second trigger 1202 can be used for the user to realize the bipolar function of the first surgical tool 100 by operating the second trigger 1202, and the like.

[0057] In existing surgeries, the user should establish a connection between the first surgical tool 100 and the second surgical tool 200 and the specified output of the energy generator 300, for example, through a high-frequency cable. However, in actual operation, the connection may be reversed. For example, the second energy output 302 corresponding to the first surgical tool 100 is connected with the second surgical tool 200. Based on this, when the user operates the first trigger 1201 to control the first surgical tool 100 to realize the bipolar function, the second surgical tool 200 may realize the bipolar function, thereby negatively affecting the surgical operation.

[0058] Based on some embodiments of the present disclosure, the surgical robot (for example, the surgical robot 10) can detect the corresponding relationship between the surgical tool and the energy output, thereby determining the corresponding relationship between the trigger and the energy output. Based on this, the user can establish a connection between the first surgical tool 100 and the second surgical tool 200 and any energy output of the energy generator 300, without the need to distinguish the specific port. This helps to avoid the negative effects caused by the connection relationship establishment error, and is beneficial to improve the user's experience. Moreover, in the surgery, the surgical tools corresponding to the first master operator 121 and the second master operator 122 can be switched at will, without the need to switch the trigger.

[0059] In some embodiments, as shown in FIG. 3, the surgical robot 10 can further include a third trigger 1203 and a fourth trigger 1204. The third trigger 1203 can be configured to receive a user trigger operation and generate a first monopolar energy trigger signal based on the user trigger operation. The fourth trigger 1204 can be configured to receive a user trigger operation and generate a second monopolar energy trigger signal based on the user trigger operation. In some embodiments, the third trigger 1203 and the fourth trigger 1204 can be disposed on the master console cart 12 for facilitating receiving the user trigger operation. In some embodiments, the third trigger 1203 and the fourth trigger 1204 can include a pedal, a button, a key, or the like, and the user trigger operation can include stepping on the pedal, pressing the button or the key, or the like.

[0060] FIG. 4 shows a structural schematic block diagram of the surgical robot 10 according to yet some embodiments of the present disclosure. In some embodiments, as shown in FIG. 4, the control device 400 can further include a third control output 403 and a fourth control output 404. The third control output 403 is communicatively connected with the first energy generator 310. The fourth control output 404 is communicatively connected with the second energy generator 320. In some embodiments, the third control output 403 and the fourth control output 404 can be disposed on the rear side of the equipment cart 11 (see FIG. 3) for facilitating connecting the control ends of the first energy generator 310 and the second energy generator 320 located on the rear side. In some embodiments, as shown in FIG. 4, the first control output 401 and the third control output 403 can have a predetermined connection relationship with the first energy generator 310. The second control output 402 and the fourth control output 404 can have a predetermined connection relationship with the second energy generator 320.

[0061] In some embodiments, as shown in FIG. 4, the first energy generator 310 can include a third energy output 303, and the second energy generator 320 can include a fourth energy output 304. The third energy output 303 and the fourth energy output 304 can be configured to output monopolar energy, such as monopolar coagulation energy and monopolar cutting energy.

[0062] The control device 400 can be communicatively connected with the third trigger 1203 and the fourth trigger 1204. In some embodiments, the control device 400 can be configured to output a first monopolar energy control signal Em1 at the third control output 403 or the fourth control output 404 to implement a monopolar coagulation function in response to the first monopolar energy trigger signal. Those skilled in the art can understand that, under the control of the first monopolar energy control signal Em1, the first energy generator 310 can output monopolar coagulation energy at the third energy output 303, or the second energy generator 320 can output monopolar coagulation energy at the fourth energy output 304.

[0063] In some embodiments, as shown in FIG. 4, the first surgical tool 100 is a monopolar-bipolar composite energy surgical tool capable of realizing monopolar function and bipolar function, and the second surgical tool 200 is a bipolar energy surgical tool. The control device 400 can output a first monopolar energy control signal Em1 at the third control output end 403 (as shown in FIG. 4) or the fourth control output end 404 (in embodiments in which the fourth control output end 404 is connected to the first surgical tool 100) in response to the first monopolar energy trigger signal, so as to realize the monopolar coagulation function of the first surgical tool 100. Based on this, the third trigger 1203 can be used for the user to trigger the first surgical tool 100 to realize the monopolar coagulation function by operating the third trigger 1203.

[0064] In some embodiments, as shown in FIG. 4, the control device 400 can also be configured to output the first monopolar energy control signal Em1 at the third control output end 403 in response to the first monopolar energy trigger signal and the first surgical tool 100 having a corresponding relationship with the first energy output end 301. Those skilled in the art can understand that, in the case that the first surgical tool 100 has a corresponding relationship with the first energy output end 301, the first surgical tool 100 has a corresponding relationship with the first energy generator 310. The control device 400 outputs the first monopolar energy control signal Em1 at the third control output end 403 having a corresponding relationship with the first energy generator 310, so as to control the first energy generator 310 to output monopolar coagulation energy, thereby realizing the monopolar coagulation function of the first surgical tool 100.

[0065] In other embodiments, the control device 400 can also be configured to output the first monopolar energy control signal Em1 at the fourth control output end 404 in response to the first monopolar energy trigger signal and the first surgical tool 100 having a corresponding relationship with the second energy output end 302. Those skilled in the art can understand that, in the case that the first surgical tool 100 has a corresponding relationship with the second energy output end 302, the first surgical tool 100 has a corresponding relationship with the second energy generator 320. The control device 400 outputs the first monopolar energy control signal Em1 at the fourth control output end 404 having a corresponding relationship with the second energy generator 320, so as to control the second energy generator 320 to output monopolar coagulation energy, thereby realizing the monopolar coagulation function of the first surgical tool 100.

[0066] Those skilled in the art can understand that, in response to the first monopolar energy trigger signal, the control device 400 can control the energy generator having a corresponding relationship with the first surgical tool 100 to output monopolar coagulation energy, thereby realizing the monopolar coagulation function of the first surgical tool 100.

[0067] In some embodiments, the control device 400 can also be configured to output a second monopolar energy control signal Em2 at the third control output end 403 or the fourth control output end 404 in response to the second monopolar energy trigger signal, so as to realize the monopolar cutting function. Those skilled in the art can understand that, under the control of the second monopolar energy control signal Em2, the first energy generator 310 can output monopolar cutting energy at the third energy output end 303, or the second energy generator 320 can output monopolar cutting energy at the fourth energy output end 304.

[0068] In some embodiments, as shown in FIG. 4, the first surgical tool 100 is a monopolar-bipolar composite energy surgical tool, and the second surgical tool 200 is a bipolar energy surgical tool. The control device 400 can output a second monopolar energy control signal Em2 at the third control output end 403 (as shown in FIG. 4) or the fourth control output end 404 (in the embodiment in which the fourth control output end 404 is connected with the first surgical tool 100) in response to the second monopolar energy trigger signal, so as to realize the monopolar cutting function of the first surgical tool 100. Based on this, the fourth trigger 1204 can be used for triggering the first surgical tool 100 to realize the monopolar cutting function by the user operating the fourth trigger 1204.

[0069] In some embodiments, as shown in FIG. 4, the control device 400 can also be configured to output a second monopolar energy control signal Em2 at the third control output end 403 in response to the second monopolar energy trigger signal and the first surgical tool 100 having a corresponding relationship with the first energy output end 301. Those skilled in the art can understand that, in the case that the first surgical tool 100 has a corresponding relationship with the first energy output end 301, the first surgical tool 100 has a corresponding relationship with the first energy generator 310. The control device 400 outputs the second monopolar energy control signal Em2 at the third control output end 403 having a corresponding relationship with the first energy generator 310, so as to control the first energy generator 310 to output monopolar cutting energy, thereby realizing the monopolar cutting function of the first surgical tool 100.

[0070] In some embodiments, the control device 400 can be further configured to output a first monopolar energy control signal Em1 at the fourth control output end 404 in response to the first monopolar energy trigger signal and the first surgical tool 100 having a corresponding relationship with the first energy output end 302. Those skilled in the art can understand that the first surgical tool 100 has a corresponding relationship with the first energy generator 310 in the case that the first surgical tool 100 has a corresponding relationship with the first energy output end 302. The control device 400 outputs the first monopolar energy control signal Em1 at the fourth control output end 404 having a corresponding relationship with the first energy generator 310, and can control the first energy generator 310 to output monopolar cutting energy, thereby enabling the monopolar cutting function of the first surgical tool 100.

[0071] Those skilled in the art can understand that in response to the second monopolar energy trigger signal, the control device 400 can control the energy generator having a corresponding relationship with the first surgical tool 100 to output monopolar cutting energy, thereby enabling the monopolar cutting function of the first surgical tool 100.

[0072] Those skilled in the art can understand that FIG. 4 is only an example, which shows the case that the first surgical tool 100 is a monopolar-bipolar hybrid energy surgical tool capable of realizing monopolar and bipolar functions, and the first surgical tool 100 is connected with the first energy generator 310. In other embodiments, the first surgical tool 100 can be connected with the second energy generator 320. The first surgical tool 100 is connected with the second energy output end 302 of the second energy generator 320 to receive bipolar energy, and is connected with the fourth energy output end 304 to receive monopolar energy. In other embodiments, the second surgical tool 100 can be a monopolar-bipolar hybrid energy surgical tool.

[0073] As shown in FIG. 3, in some embodiments, the surgical robot 10 can further include a first driving module 1301 and a second driving module 1302. The first surgical tool 100 can be arranged at the distal end of the first driving module 1301, and the second surgical tool 200 can be arranged at the distal end of the second driving module 1302. The first driving module 1301 can be used to drive the first surgical tool 100 to move, and the second driving module 1302 can be used to drive the second surgical tool 200 to move, such as roll, pitch, swing, forward and backward, etc.

[0074] As shown in FIG. 3, in some embodiments, the surgical robot 10 can further include a surgical cart 13. The surgical cart 13 can include at least one mechanical arm 131, and a first driving module 1301 and a second driving module 1302 can be disposed at a distal end of the at least one mechanical arm 131. In some embodiments, the at least one mechanical arm 131 can include a plurality of mechanical arms, and the first driving module 1301 and the second driving module 1302 can be disposed at distal ends of the corresponding mechanical arms, respectively. In some embodiments, as shown in FIG. 3, the at least one mechanical arm 131 can include a single mechanical arm, and the first driving module 1301 and the second driving module 1302 can be disposed at a distal end of the mechanical arm.

[0075] In some embodiments, the surgical cart 13 can further include a base 132, a main upright column 133 disposed on the base 132, and a main cross beam 134 disposed on the main upright column 133. The at least one mechanical arm 131 can be disposed at a distal end of the main cross beam 134. In some embodiments, the surgical robot 10 can further include other types of surgical tools (e.g., an electric hook, a needle holder, etc.) and imaging tools (e.g., an endoscope), and the surgical tools and the endoscope can be disposed at the distal end of the at least one mechanical arm 131. In surgery, the surgical cart 13 can be disposed at the patient side to facilitate performing surgical operations on the patient.

[0076] In some embodiments, the control device 400 can be configured to directly determine the correspondence between the first and second energy output ends 301 and 302 and the first and second surgical tools 100 and 200. For example, the control device 400 can be communicatively connected with the first and second surgical tools 100 and 200, and the control device 400 can be configured to read or detect the test signals received by both and determine the correspondence between the first and second energy output ends 301 and 302 and the first and second surgical tools 100 and 200 based on the results of reading or detection. In some embodiments, the first and second surgical tools 100 and 200 can each include a communication module to be communicatively connected with the control device 400.

[0077] In some embodiments, the first driving module 1301 can include a first IO module (not shown in the figure). The first IO module can be communicatively connected with the first surgical tool 100. The first IO module can be configured to read or detect the test signal received by the first surgical tool 100.

[0078] In some embodiments, the first driving module 1301 can include a first IO module (not shown in the figure). The first IO module can be communicatively connected with the first surgical tool 100. The first IO module can be configured to read or detect the test signal received by the first surgical tool 100.

[0079] In some embodiments, the first driving module 1301 and the first surgical tool 100 can communicate through a communication module (e.g., an RFID communication module, not shown in the figure). The RFID communication module can include a tag chip and a reader chip. The tag chip can be disposed at the proximal end of the first surgical tool 100, and the reader chip can be included in the first IO module and disposed at the distal end of the first driving module and can correspond to the position of the tag chip. The tag chip of the first surgical tool 100 can store the relevant information of the test signal received by the first surgical tool 100, and the reader chip can read the information stored by the tag chip to read or detect the test signal received by the first surgical tool 100.

[0080] The control device 400 can be communicatively connected with the first IO module. The control device 400 can be configured to determine that the first driving module 1301 has a corresponding relationship with the first energy output end 301 or the second energy output end 302 based on the reading result or the detection result of the first IO module. For example, the control device 400 can be configured to determine that the first driving module 1301 has a corresponding relationship with the first energy output end 301 or the second energy output end 302 based on the reading result or the detection result of the first IO module including the identification information of the first energy output end 301 or the second energy output end 302.

[0081] In some embodiments, the second driving module 1302 can comprise a second IO module (not shown in the figure). The second IO module can be communicatively connected with the second surgical tool 200. The second IO module can be configured to read or detect the test signal received by the second surgical tool 200.

[0082] In some embodiments, the second driving module 1302 and the second surgical tool 200 can communicate through a communication module (e.g., an RFID communication module, not shown in the figure). For example, the second surgical tool 200 can comprise a tag chip disposed at the proximal end thereof, and the second driving module 1302 can comprise a reader chip disposed at the distal end thereof and the position of the reader chip can correspond to the tag chip. The tag chip of the second surgical tool 200 can store information related to the test signal received thereby, and the reader chip can read the information stored by the tag chip to read or detect the test signal received by the second surgical tool 200.

[0083] The control device 400 can be communicatively connected with the second IO module, and the control device 400 can be configured to determine that the second driving module 1302 has a corresponding relationship with the first energy output end 301 or the second energy output end 302 based on the reading result or the detection result of the second IO module. For example, the control device 300 can be configured to determine that the second driving module 1302 has a corresponding relationship with the first energy output end 301 or the second energy output end 302 based on the reading result or the detection result of the second IO module comprising the identification information of the first energy output end 301 or the second energy output end 302.

[0084] In some embodiments, the control device 400 can be further configured to control the output of the test signal in response to a test start signal, for example, output the test signal at the first control output end 401 and / or the second control output end 402. In some embodiments, the test start signal can comprise at least one of the following: a surgical tool installation completion signal, a surgical tool state ready signal, a test trigger signal.

[0085] In some embodiments, the surgical tool installation completion signal can be generated based on the installation of the surgical tool, for example, the installation of the surgical tool to the distal end of the mechanical arm 131 of the surgical trolley 13 and the completion of the connection with the driving module. In some embodiments, the driving module (e.g., the first driving module 1301 and the second driving module 1302) can generate the surgical tool installation completion signal in response to the installation of the surgical tool.

[0086] In some embodiments, the surgical tool status ready signal can be generated based on completion of assignment of the surgical tool, and / or completion of establishment of the master-slave mapping relationship between the first master operator 121 and / or the second master operator 122 and the surgical tool, and / or completion of switching of the master-slave mapping relationship between the first master operator 121 and / or the second master operator 122 and the surgical tool.

[0087] In some embodiments, the surgical robot 10 can further include a test trigger device (not shown in the figure). The test trigger device can be communicatively connected with the control device 400, and the test trigger device can be configured to receive a user test trigger operation and generate a test trigger signal based on the user test trigger operation. In some embodiments, the test trigger device can include any suitable form such as a key, a button, a knob, etc., and the user test trigger operation can include pressing the key or the button, turning the knob, etc.

[0088] Further embodiments of the present disclosure also provide a surgical robot 20. FIG. 5 shows a structural schematic block diagram of the surgical robot 20 according to further embodiments of the present disclosure. In some embodiments, the surgical robot 20 can include a laparoscopic surgical robot or the like. As shown in FIG. 5, the surgical robot 20 can include a surgical tool 210, a surgical tool 220, at least one energy generator 230, and a control device 240.

[0089] The surgical tool 210 and the surgical tool 220 can each be an energy surgical tool capable of performing energy surgical functions. For example, the surgical tool 210 and the surgical tool 220 can be capable of performing bipolar coagulation operations, monopolar coagulation operations, monopolar cutting operations, or the like. In some embodiments, the surgical tool 210 and the surgical tool 220 can each be capable of bipolar functions. In some embodiments, the surgical tool 210 and the surgical tool 220 can be any suitable type of energy surgical tool such as a bipolar grasping forceps, a bipolar curved dissecting forceps, a bipolar curved grasping forceps, or the like.

[0090] As shown in FIG. 5, the at least one energy generator 230 can be connected with the surgical tool 210 and the surgical tool 220. The energy generator 230 can be configured to provide energy to the surgical tool 210 and the surgical tool 220 to enable the surgical tool 210 and the surgical tool 220 to perform energy surgical functions. In some embodiments, the energy generator 230 can be connected with the surgical tool 210 and the surgical tool 220 through high-frequency cables to transmit energy.

[0091] As shown in FIG. 5, the at least one energy generator 230 can include an energy output end 2301 and an energy output end 2302. In some embodiments, the energy output end 2301 and the energy output end 2302 can each be a bipolar energy output end. The two can be connected with the surgical tool 210 and the surgical tool 220 respectively to transmit bipolar energy to the surgical tool 210 and the surgical tool 220 respectively. In some embodiments, the two can be connected with the surgical tool 210 and the surgical tool 220 respectively through high-frequency cables.

[0092] In some embodiments, the control device 240 can be configured to control the output of the test signal, and determine the correspondence between the energy output end 2301 and the energy output end 2302 and the surgical tool 210 and the surgical tool 220 based on the reception of the test signal by the surgical tool 210 and / or the surgical tool 220.

[0093] In some embodiments, as shown in FIG. 5, the control device 240 can be in communication connection with the at least one energy generator 230. The control device 240 can be configured to control the energy output end 2301 to output a test signal E1. In some embodiments, the control device 240 can send a first test control signal to the energy generator 230 to control the energy generator 230 to output the test signal E1 at the energy output end 2301. In some embodiments, the control device 240 can be further configured to determine that the energy output end 2301 has a correspondence with the surgical tool 210 in response to the surgical tool 210 receiving the test signal E1. In other embodiments, the control device 240 can be further configured to determine that the energy output end 2301 has a correspondence with the surgical tool 220 in response to the surgical tool 220 receiving the test signal E1.

[0094] In some embodiments, the control device 240 can be configured to control the energy output end 2302 to output a test signal E2. In some embodiments, the control device 240 can send a second test control signal to the energy generator 230 to control the energy generator 230 to output the test signal E2 at the energy output end 2302. In some embodiments, the control device 240 can be further configured to determine that the energy output end 2302 has a correspondence with the surgical tool 210 in response to the surgical tool 210 receiving the test signal E2. In other embodiments, the control device 240 can be further configured to determine that the energy output end 2302 has a correspondence with the surgical tool 220 in response to the surgical tool 220 receiving the test signal E2.

[0095] Based on this, the surgical robot 20 can determine the correspondence between the surgical tools and the energy output ends. In surgery, the surgical tools 210 and 220 can be connected to any energy output end of the energy generator 230 without the need to distinguish the specific port. This helps to avoid the negative impact of connection relationship establishment errors.

[0096] In some embodiments, the surgical robot 20 can include a first drive module and a second drive module (not shown in the figure). The surgical tool 210 can be arranged at the distal end of the first drive module, and the surgical tool 220 can be arranged at the distal end of the second drive module. The control device 240 can also be configured to determine the correspondence between the energy output end 2301 and the energy output end 2302 and the first drive module and the second drive module, for representing the correspondence between the energy output end 2301 and the energy output end 2302 and the surgical tool 210 and the surgical tool 220.

[0097] In some embodiments, the first drive module can include a first IO module 251. FIG. 6 shows a structural schematic block diagram of the surgical robot 20 according to some embodiments of the present disclosure. As shown in FIG. 6, the first IO module 251 can be in communication connection with the surgical tool 210, and the first IO module 251 can be used to read or detect the test signal received by the surgical tool 210. The control device 240 can be in communication connection with the first IO module 251. The control device 240 can be configured to determine that the first drive module has a correspondence with the energy output end 2301 or the energy output end 2302 based on the reading result or the detection result of the first IO module 251, so as to determine that the surgical tool 210 has a correspondence with the energy output end 2301 or the energy output end 2302.

[0098] In some embodiments, the second drive module can include a second IO module 252. As shown in FIG. 6, the second IO module 252 can be in communication connection with the surgical tool 220, and the second IO module 252 can be used to read or detect the test signal received by the surgical tool 220. The control device 240 can be in communication connection with the second IO module 252. The control device 240 can be configured to determine that the second drive module has a correspondence with the energy output end 2301 or the energy output end 2302 based on the reading result or the detection result of the second IO module 252, so as to determine that the surgical tool 220 has a correspondence with the energy output end 2301 or the energy output end 2302.

[0099] In some embodiments, the control device of the surgical robot 20 can also be configured to control the output of the test signal in response to a test start signal, for example, control the energy generator 230 to output the test signal at the energy output end 2301 and / or the energy output end 2302, or output the test signal at the first control output end 401 and / or the second control output end 402. The test start signal can include at least one of the following: a surgical tool installation completion signal, a surgical tool state ready signal, and a test trigger signal. The above test start signal is similar to the corresponding signal in the foregoing, and to reduce repetition, it will not be described again.

[0100] It should be noted that the above are only exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments only, and can include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical robot comprising: a first surgical tool; a second surgical tool; at least one energy generator for providing energy for the first surgical tool and the second surgical tool, and the at least one energy generator comprises a first energy output and a second energy output; and a control device configured to control output of a test signal and determine a correspondence between the first energy output and the second energy output and the first surgical tool and the second surgical tool based on reception of the test signal by the first surgical tool and / or the second surgical tool.

2. The surgical robot according to claim 1, wherein the control device comprises a first control output and a second control output, the first control output has a correspondence with the first energy output, the second control output has a correspondence with the second energy output, the first control output and the second control output are communicatively connected with the first surgical tool and the second surgical tool respectively or the first control output and the second control output are communicatively connected with the second surgical tool and the first surgical tool respectively. the control device is configured to:

3. The surgical robot of claim 2, wherein, output a first test signal at the first control output, and determine that the first energy output has a correspondence with the first surgical tool in response to the first test signal being received by the first surgical tool, or determine that the first energy output has a correspondence with the second surgical tool in response to the first test signal being received by the second surgical tool; and / or output a second test signal at the second control output, and determine that the second energy output has a correspondence with the first surgical tool in response to the second test signal being received by the first surgical tool, or determine that the second energy output has a correspondence with the second surgical tool in response to the second test signal being received by the second surgical tool. the at least one energy generator comprises a first energy generator and a second energy generator, the first energy generator comprises the first energy output, and the second energy generator comprises the second energy output.

4. The surgical robot of claim 2, wherein, 5. The surgical robot according to claim 4, wherein the first control output is communicatively connected with the first energy generator, and the second control output is communicatively connected with the second energy generator, the control device is configured to output a bipolar energy control signal at the first control output to control the first energy generator to output bipolar energy, and / or output a bipolar energy control signal at the second control output to control the second energy generator to output bipolar energy. further comprising:

6. The surgical robot of claim 5, wherein, a first trigger and a second trigger for receiving a user trigger operation and generating a bipolar energy trigger signal based on the user trigger operation; the control device is communicatively connected with the first trigger and the second trigger, and the control device is configured to: output a first trigger signal at the first control output to control the first trigger to output the bipolar energy trigger signal, and / or output a second trigger signal at the second control output to control the second trigger to output the bipolar energy trigger signal. In response to a bipolar energy trigger signal from the first trigger or the second trigger, output the bipolar energy control signal at the first control output or the second control output to realize the bipolar function of the first surgical tool or the second surgical tool.

7. The surgical robot as claimed in claim 6, characterised in that, Further comprising a first main operator and a second main operator, the first main operator has a corresponding relationship with the first trigger, and the second main operator has a corresponding relationship with the second trigger. The control device is configured to determine that the first main operator has a corresponding relationship with the first surgical tool, and / or determine that the second main operator has a corresponding relationship with the second surgical tool.

8. The surgical robot of claim 6 or 7, wherein, The control device is further configured to: In response to a bipolar energy trigger signal from the first trigger and the first energy output having a corresponding relationship with the first surgical tool, output the bipolar energy control signal at the first control output; Or In response to a bipolar energy trigger signal from the first trigger and the second energy output having a corresponding relationship with the first surgical tool, output the bipolar energy control signal at the second control output.

9. The surgical robot of any one of claims 6 to 8, wherein, The control device is further configured to: In response to a bipolar energy trigger signal from the second trigger and the first energy output having a corresponding relationship with the second surgical tool, output the bipolar energy control signal at the first control output; Or In response to a bipolar energy trigger signal from the second trigger and the second energy output having a corresponding relationship with the second surgical tool, output the bipolar energy control signal at the second control output.

10. The surgical robot of any of claims 2 to 9, wherein, Further comprising: A third trigger for receiving a user trigger operation and generating a first monopolar energy trigger signal based on the user trigger operation; And A fourth trigger for receiving a user trigger operation and generating a second monopolar energy trigger signal based on the user trigger operation.

11. The surgical robot of claim 10, wherein, The control device further comprises a third control output and a fourth control output, the third control output is in communication connection with the first energy generator, and the fourth control output is in communication connection with the second energy generator, The control device is in communication connection with the third trigger and the fourth trigger, and the control device is configured to: In response to the first monopolar energy trigger signal, output a first monopolar energy control signal at the third control output or the fourth control output to realize the monopolar coagulation function of the first surgical tool; Or In response to the second monopolar energy trigger signal, output a second monopolar energy control signal at the third control output or the fourth control output to realize the monopolar cutting function of the first surgical tool.

12. The surgical robot of claim 11, wherein, The control device is further configured to: In response to the first monopolar energy trigger signal and the first surgical tool having a corresponding relationship with the first energy output, output the first monopolar energy control signal at the third control output; Or In response to the second monopolar energy trigger signal and the first surgical tool having a corresponding relationship with the second energy output, output the second monopolar energy control signal at the fourth control output. in response to the first monopolar energy trigger signal and the first surgical tool having the correspondence with the second energy output end, output the first monopolar energy control signal at the fourth control output end.

13. The surgical robot of claim 11 or 12, wherein, The control device is further configured to: in response to the second monopolar energy trigger signal and the first surgical tool having the correspondence with the first energy output end, output the second monopolar energy control signal at the third control output end; or in response to the second monopolar energy trigger signal and the first surgical tool having the correspondence with the second energy output end, output the second monopolar energy control signal at the fourth control output end.

14. The surgical robot of claim 1, wherein, The control device is in communication connection with the at least one energy generator, and the control device is configured to control the first energy output end to output a first test signal, and in response to the first surgical tool receiving the first test signal, determine that the first energy output end has the correspondence with the first surgical tool; or in response to the second surgical tool receiving the first test signal, determine that the first energy output end has the correspondence with the second surgical tool.

15. The surgical robot of claim 14, wherein, The control device is configured to control the second energy output end to output a second test signal, and in response to the first surgical tool receiving the second test signal, determine that the second energy output end has the correspondence with the first surgical tool; or in response to the second surgical tool receiving the second test signal, determine that the second energy output end has the correspondence with the second surgical tool.

16. The surgical robot of any one of claims 1 to 15, wherein, The surgical robot further comprises: a first drive module and a second drive module, the first surgical tool being arranged at a distal end of the first drive module, and the second surgical tool being arranged at a distal end of the second drive module; and a surgical trolley, the surgical trolley comprising at least one mechanical arm, the first drive module and the second drive module being arranged at a distal end of the at least one mechanical arm.

17. The surgical robot of claim 16, wherein, The control device is further configured to: determine the correspondence of the first energy output end and the second energy output end with the first drive module and the second drive module, for representing the correspondence of the first energy output end and the second energy output end with the first surgical tool and the second surgical tool.

18. The surgical robot according to claim 16 or 17, characterized in that the first drive module comprises a first IO module, the first IO module being in communication connection with the first surgical tool, and the first IO module being configured to read or detect the test signal received by the first surgical tool; the control device is in communication connection with the first IO module, and the control device is configured to determine that the first drive module has the correspondence with the first energy output end or the second energy output end based on the reading result or the detection result of the first IO module; and / or The second driving module comprises a second IO module, the second IO module is in communication connection with the second surgical tool, and the second IO module is used for reading or detecting a test signal received by the second surgical tool; The control device is in communication connection with the second IO module, and the control device is configured to determine that the second driving module has a corresponding relationship with the first energy output end or the second energy output end based on a reading result or a detection result of the second IO module.

19. The surgical robot of any one of claims 1 to 18, wherein, The control device is further configured to control the output of the test signal in response to a test start signal, and the test start signal comprises at least one of the following: A surgical tool installation completion signal, a surgical tool state ready signal, and a test trigger signal.

20. The surgical robot of claim 19, wherein, Further comprising: A test trigger device in communication connection with the control device, configured to receive a user test trigger operation, and generate the test trigger signal based on the user test trigger operation.

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