189 results about "Surgical robot" patented technology

The present disclosure relates to a remote surgical robot system and a method for device interconnection therein. The method comprises: receiving second device information, which is sent by a server, of a pairable second device; acquiring target second device information, which is determined on the basis of the second device information, of a target second device that is expected to be paired, and sending a first pairing request to the server; receiving device network information, which is sent by the server when detecting that the first pairing request matches a second pairing request sent by the target second device, of the target second device; and establishing pairing with the target second device on the basis of the device network information, thereby implementing direct communication with the target second device. When the server detects that a pairing request initiated by a remote surgeon console matches a pairing request initiated by a patient surgery platform, device network information of a peer device is sent to at least one of the two for establishing the pairing, thereby avoiding incorrect pairing, ensuring the reliability of establishing the pairing, and improving the safety of remote surgery.

Aspects include a surgical robot for use in a total hip arthroplasty (THA) procedure, and related methods. In some cases, the surgical robot includes: a robot arm for holding a surgical instrument; and a controller coupled with the robot arm, the controller programmed to: detect a position of the surgical instrument in at least one attraction volume corresponding with a planned trajectory of the surgical instrument for the THA procedure, the at least one attraction volume defined in part by a point and an axis extending from the point; and while the surgical instrument is in the at least one attraction volume during the THA procedure, provide assistance to movement of the surgical instrument in a direction toward the at least one attraction volume.

To provide a method of providing an operation image using a surgical robot which can easily and correctly confirm a movement of the surgical robot or a surgical instrument and a manipulation of a manipulation target therefor, and provide an information processing system.SOLUTION: A method of providing an operation image using a surgical robot acquires a state log indicating the state of a manipulation target that changes by manipulating the manipulation target of a manipulation device 2 by an operator, generates a reconstruction image that visualizes the manipulation of the operator to the manipulation target on the basis of the state log, and provides an operation image indicating the movement of the surgical robot or surgical instrument is associated with the reconstruction image.SELECTED DRAWING: Figure 9

The application discloses a rigid-flexible dual driving snake-shaped surgical robot, which comprises a rigid dual driving mechanism, a rear-end flexible continuum mechanism, a tendon constraint structure and a front-end flexible continuum mechanism. The rear-end flexible continuum mechanism and the front-end flexible continuum mechanism are associated with each other in terms of tendon length to form a dual continuum mechanism; the rigid dual driving mechanism is associated with the rear-end flexible continuum mechanism in terms of end surface movement, and the rear-end flexible continuum mechanism can be driven to bend, rotate and stretch in any direction by the rigid dual driving mechanism, so that the front-end flexible continuum mechanism is coupled to bend, rotate and stretch in any direction. The application can avoid directly pushing and pulling the driving tendon of the flexible continuum, thereby reducing the driving complexity when the number of tendons is large, and the rigid-flexible dual driving further guarantees the modeling accuracy of the continuum, and has the advantages of high reliability, compact structure and easy realization.

1. Name of the product in this design: Graphical User Interface for Displaying Surgical Operation Control Process of Electronic Device. 2. Purpose of this design: An electronic device. 3. The key design features of this product are its graphical user interface in electronic devices. 4. The image or photo that best illustrates the design points: Design 3 Interface Change State Diagram 5. 5. Design 1 is designated as the basic design. 6. Purpose of the graphical user interface: It is an interactive interface used to display the graphical visualization of the surgical operation control process. 7. Human-Computer Interaction Method of Graphical User Interface: Design 1 is a graphical user interface for the interventional surgical robot that displays prompts based on force feedback in the state of one catheter and one guidewire. Specifically: The main view of Design 1 shows the interface when the operating lever corresponding to catheter one is not touched and the resistance value encountered by the guidewire is within the first threshold range of the guidewire; when the operating lever of catheter one is not touched and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface change state diagram of Design 1 is displayed as shown in Figure 1; when the resistance value encountered by catheter one is within the first threshold range of the catheter and the operating lever corresponding to the guidewire is not touched, the interface change state diagram of Design 1 is displayed as shown in Figure 2; when the resistance value encountered by catheter one is within the second threshold range of the catheter and the operating lever corresponding to the guidewire is not touched, the interface change state diagram of Design 1 is displayed as shown in Figure 3; when the resistance value encountered by catheter one is within the first threshold range of the catheter and the resistance value encountered by the guidewire is within the first threshold range of the guidewire, the interface change state diagram of Design 1 is displayed as shown in Figure 4; when the resistance value encountered by catheter one is within the second threshold range of the catheter and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface change state diagram of Design 1 is displayed as shown in Figure 5. Design 2 is a graphical user interface (GUI) for interventional surgical robots that displays prompts based on force feedback during the rapid switching of catheters, guidewires, and guidewires. Specifically: the main view of Design 2 shows the interface when the operating lever corresponding to catheter 1 is not touched and the resistance value encountered by the guidewire is within the first threshold range of the guidewire; when the operating lever corresponding to catheter 1 is not touched and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface changes as shown in Figure 1; when the resistance value encountered by both catheter 1 and guidewire is within the first threshold range of both catheters and guidewires, the interface changes as shown in Figure 2; and when the resistance value encountered by both catheters and guidewires is within the second threshold range of both catheters and guidewires, the interface changes as shown in Figure 3. Design 3 is a graphical user interface (GUI) for the interventional surgical robot, displaying prompts based on force feedback during the two-tube, one-wire, and one-rapid-interchange state. Specifically: the main view of Design 3 shows the interface displayed when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by the guidewire is within the first threshold range of the guidewire; when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface state change diagram of Design 3 (Figure 1) is displayed; when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by catheter two is within the first threshold range of the catheter, the interface state change diagram of Design 3 (Figure 2) is displayed; when neither the operating levers corresponding to catheter one nor catheter two are touched, and the resistance value encountered by catheter two is within the second threshold range of the catheter, the interface state change diagram of Design 3 (Figure 3) is displayed; when both the resistance values ​​encountered by catheter one and catheter two are within the first threshold range of the catheter, and the resistance value encountered by the guidewire is within the first threshold range of the guidewire, the interface state change diagram of Design 3 (Figure 3) is displayed. Interface change state diagram 4; When the resistance values ​​encountered by catheter one and catheter two are both within the second threshold range of the catheter, and the resistance value encountered by the guidewire is within the second threshold range of the guidewire, the interface change state diagram 5 of design 3 is displayed.

The utility model provides a split type kirschner wire and a kit for an orthopedic surgery robot, and belongs to the technical field of kirschner wires, the split type kirschner wire comprises a front kirschner wire body used for puncturing bones and a rear kirschner wire body used for being connected with an end effector of the orthopedic surgery robot, the front kirschner wire body is detachably connected with the rear kirschner wire body. Compared with Kirschner wire bending operation in the prior art, after the split type Kirschner wire is driven into the human body, the front Kirschner wire body with the proper length can be obtained more conveniently and safely, the problem of positioning displacement or loss caused by excessive pulling of the Kirschner wire is solved, and the Kirschner wire is more convenient to use. After the front kirschner wire body is detached and separated, due to the fact that the connecting end of the front kirschner wire body is smooth and clean, follow-up balloon dilatation kyphoplasty or pedicle screw implanting operation is facilitated, operation risks are reduced, and related operation operations can be carried out more safely, more reliably and more conveniently.

This invention relates to a quick-release and fixing device for a lasso-driven puncture surgical robot, comprising a lasso driving unit, a lasso, a quick-release lasso angle fixing guide rail, and a puncture robot body. The lasso driving unit is located outside the MRI machine, and the puncture robot body is placed inside the MRI machine bed. The lasso is output from the lasso driving unit, guided by the quick-release lasso angle fixing guide rail arranged along the transmission path, and then connected to the puncture execution end of the puncture robot body. The quick-release lasso angle fixing guide rail is used to limit the bending angle and direction of the lasso, and can complete the assembly and disassembly of the guide rail and the lasso. A static model of the single lasso transmission system is constructed based on the constant bending angle of the lasso throughout the entire path. The fixed bending angle constant is used to replace the traditional time-varying bending angle. The tensile loss and displacement error of the lasso throughout the entire path are calculated. A lasso position and force reverse transmission compensation model is constructed to simplify the transmission control algorithm. There is no need to set displacement and force sensors at the puncture execution end; the displacement and puncture force control of the puncture execution end are achieved only through feedback from the lasso driving end.

This invention discloses a pitch adjustment component, a doctor's console adjustment mechanism, and a minimally invasive surgical robot, comprising: a fixed component, a movable component adapted to pitch movement relative to the fixed component, and a drive structure disposed between the fixed component and the movable component; wherein the drive structure includes a movable arm, a push-pull block pivotally engaged with one end of the movable arm, and a power unit disposed on the movable component for achieving sliding engagement between the push-pull block and the movable component; the end of the movable arm away from the push-pull block is pivotally connected to the fixed component; when the push-pull block slides in the movable component along a first direction, the movable component pitches upward relative to the fixed component; and when the push-pull block moves in the movable component along a second direction opposite to the first direction, the movable component pitches downward relative to the fixed component. This invention can achieve a simplified structure to realize pitch adjustment of the doctor's console during use, thereby reducing the wear rate of the overall structure's parts.

The application is suitable for the field of medical robots, and provides a compact multi-drive interventional surgery robot slave end, which comprises a first passage power mechanism and a second passage power mechanism arranged in a height direction on a slave end body; a plurality of first driving mechanisms connected to the first passage power mechanism, and a plurality of second driving mechanisms connected to the second passage power mechanism; the plurality of first driving mechanisms and the plurality of second driving mechanisms are located on the same side of the slave end body and are in the same horizontal plane; in a working state, the plurality of first driving mechanisms and the plurality of second driving mechanisms respectively drive a plurality of elongated medical instruments to move, so that more elongated medical instruments are delivered through double channels, simple surgery and complex surgery can be compatible, the overall structure is compact, the machine space and the surgery space are saved, and the instruments are convenient for manual installation and adjustment.

The application discloses a simulation-based respiratory displacement prediction method and device, a surgical robot, and an electronic device. The method comprises the following steps: obtaining a first three-dimensional model of a first object, wherein the first three-dimensional model comprises a first tissue model, and the first tissue model is a model of a first tissue in the first object; determining a first relationship of the first tissue model based on stress characteristics of the first tissue, wherein the first relationship is a relationship between a force received by the first tissue model and a deformation of the first tissue model; obtaining a first simulation force, wherein the first simulation force is used to simulate a respiratory force on the first tissue; and determining a first respiratory displacement of the first tissue based on the first three-dimensional model, the first relationship and the first simulation force, wherein the first respiratory displacement is a displacement generated by respiration of the first object. According to the method provided in the application, the first respiratory displacement of the first tissue can be determined by simulating the movement of the first tissue in the respiration process of the first object, and thus the accuracy of the first respiratory displacement can be improved.

This invention provides an endoscopic laser resection surgical robot based on a piezoelectrically driven omnidirectional ball. The piezoelectric drive mechanism enables multi-degree-of-freedom rotation of the steering system, thereby driving the fiber optic channel to achieve precise laser steering control, improving surgical flexibility and accuracy. The steering system is connected to the external structure via an elastic support component. This elastic support can apply a preset preload to the steering system while ensuring that the system's free rotation performance is not affected, allowing the steering system to achieve three degrees of freedom rotation in space, corresponding to a conical angle range of ±20° from the half-apex angle.

The invention discloses a control system and method for an oral surgery robot, and relates to the technical field of medical robot control, and the method comprises the steps: collecting preoperative medical image data of a laryngeal cavity region, and generating a static laryngeal cavity three-dimensional structural body through anatomical segmentation, contour extraction and three-dimensional reconstruction; according to the static laryngeal cavity three-dimensional structural body, zero calibration is carried out on the oral surgical robot, and RCM constraints are established; under the constraint of RCM, a three-dimensional endoscope is used for collecting an operation area image in real time, a real-time laryngeal cavity local three-dimensional point cloud is generated through stereoscopic vision reconstruction, geometric registration is conducted on the real-time laryngeal cavity local three-dimensional point cloud and a static laryngeal cavity three-dimensional structural body, and the real-time tail end pose is determined; and the primary control quantity and the three types of real-time monitoring data are fused together, a comprehensive risk index is calculated, the autonomous control proportion of the robot is adjusted by using the comprehensive risk index, and a risk guidance control quantity is generated. The safety, accuracy and flexibility of the operation are improved, and finally more efficient and safer oral operation is achieved.

The utility model discloses an ultrasonic knife, an ultrasonic transmission assembly and a minimally invasive surgery robot, and belongs to the technical field of medical instruments. The ultrasonic knife comprises a knife rod and a knife head, the knife rod comprises a first rod part, a second rod part, a third rod part and a fourth rod part which are sequentially connected, the knife head is connected to the fourth rod part, the third rod part comprises a plurality of segments, each segment comprises a thin cylindrical part and a thick cylindrical part, the thin cylindrical part is connected with the second rod part, and the thick cylindrical part is connected with the fourth rod part; at least part of the thin cylindrical parts are different in length, and at least part of the thick cylindrical parts are different in length. The multiple sections are divided into a plurality of first sections and a plurality of second sections, the diameters of the first sections are different from those of the second sections, the lengths from the first rod part to the fourth rod part are 15.1 mm, 7.8 mm, 528.1 mm and 0.7 mm in sequence, the cutter rod is effectively prevented from being broken, and the cutting frequency is increased.

This application provides a control method for a medical system, a transducer, and the medical system itself. The medical system includes a surgical robot, an energy generator, ultrasonic surgical instruments, and a transducer. The ultrasonic surgical instruments are mounted on the surgical robot, and the energy generator is connected to the ultrasonic surgical instruments via the transducer, with the energy generator and transducer having a communicative connection. The control method for the medical system includes: the transducer's input device receiving user input and generating and transmitting an excitation control signal based on the user input; the transducer's signal transmitter transmitting the excitation control signal to the energy generator; and the energy generator's controller controlling the excitation of the ultrasonic surgical instruments based on the excitation control signal. According to an embodiment of this application, by adding an excitation control component to the transducer, the excitation of the ultrasonic scalpel is directly controlled via the excitation control component on the transducer, replacing the external foot pedal. This simplifies the medical system structure, improves the space utilization of the operating room, and reduces the risk of accidents.

The invention discloses a blood vessel three-dimensional reconstruction method and device, a surgical robot and electronic equipment. The method comprises the steps that an ultrasonic image data set is obtained, the ultrasonic image data set comprises at least two pieces of ultrasonic image data, the ultrasonic image data set is obtained by conducting image collection on a collection range through ultrasonic collection equipment, and blood vessels are included in the collection range; based on the ultrasonic image data set, at least one first microbubble trajectory is obtained, and the first microbubble trajectory is the trajectory of microbubbles in the blood vessel. And obtaining at least one second microbubble trajectory under the world coordinate system based on the first conversion relation and the position of the at least one first microbubble trajectory under the pixel coordinate system corresponding to the ultrasonic image data set. And based on the trajectory in the at least one second microbubble trajectory, performing three-dimensional reconstruction on the blood vessel to obtain a first reconstruction result. Three-dimensional reconstruction is carried out on the blood vessel based on the method provided by the invention, and the accuracy of a reconstruction result can be improved.

The application discloses a navigation type scalpel for surgical robot and relates to the technical field of medical devices.The scheme comprises a guider provided with a through guide channel at one end and used for detachable connection with an external navigation device;the navigation scalpel comprises a navigation handle and a cutting blade, the cutting blade is detachably connected with one end of the navigation handle, the other end of the navigation handle is provided with a tracer, and the tracer is used for identification and positioning by the external navigation device;the outer wall of the navigation handle is circumferentially limitedly connected with the inner wall of the guide channel, the navigation handle is used for insertion into the guide channel, and the guide channel is used for axial and circumferential guidance of the advancing path of the cutting blade.Through the arrangement of the guider and the navigation scalpel, the external navigation device can position the scalpel, monitor the cutting path and the cutting depth of the scalpel, and through the axial and circumferential limitation of the guide channel on the scalpel, the cutting position and direction of the scalpel are ensured to be accurate.

A tension sensing cable for a cable drive mechanism of a robot, in particular a surgical robot, is provided. The tension sensing cable is configured to respond to an axial tensile force applied thereon, wherein a radial pressure applied on the cable has a lower impact on a voltage output of the cable than the axial force. The cable comprises a main conductive filament and a secondary conductive filament, where the main filament and / or the secondary filament are helically wound and configured such that when the main filament and the secondary filament are in contact with each other, charge transfer occurs between two contact surfaces of the main filament and the secondary filament. When an axial tensile force is applied to the cable, a potential difference generated by the charge transferred between the primary filament and the secondary filament varies, where the variation corresponds to the applied axial tensile force.

A surgical robot includes an end effector driven by a plurality of joints positioned along a robotic arm of the surgical robot. In addition, the surgical robot includes a processor communicatively coupled to the robotic arm, the processor configured to apply a first torque limit to at least one of the plurality of joints when the robotic arm actively moves, and apply a second torque limit to at least one of the plurality of joints when the robotic arm is in a rest state, wherein the second torque limit is different than the first torque limit.

This application provides a smoke-venting energy device and a surgical robot. The smoke-venting energy device includes an instrument housing assembly, a forceps assembly, and an instrument shaft. The forceps assembly includes an actuator, an insulating base, and a wrist joint; the instrument housing assembly has an instrument cable; the instrument shaft connects the forceps assembly and the instrument housing assembly, and the instrument cable passes through the instrument shaft and connects to the forceps assembly to drive the forceps assembly to perform surgical actions; a smoke-collecting component is disposed inside the instrument shaft to form a smoke-collecting chamber with the inner wall of the instrument shaft; the smoke-collecting chamber communicates with the smoke-collecting port and extends to the external surgical area, so that the smoke generated during the surgical actions enters the smoke-collecting chamber through the smoke-collecting port and is eventually discharged to the external surgical area, which can maintain a clear field of vision in the surgical area, which is beneficial for the doctor to accurately judge and operate the surgical area, and improve the continuity and safety of the surgery.

A system for monitoring vibrations induced in a surgical robot includes an end effector having a first marker coupled thereto, a human interface device (HID) for actuating the end effector, and a processor communicatively coupled to the HID. The processor is configured to actuate the end effector based on inputs provided by the HID and to detect an actual position of the first marker attached to the end effector. Further, the processor is configured to determine an expected position of the marker based on a kinematic model of the surgical robot and the inputs provided by the HID and to determine a position error between the actual position of the first marker and the expected position of the first marker.

The application discloses a user control method, a surgical robot and a readable storage medium, wherein the user control method comprises the following steps: acquiring at least one biological feature information of a user, and generating identity authentication information of the user; and generating an identity authentication information-biological feature information association table based on the biological feature information and the identity authentication information. In the embodiment of the application, the identity authentication information-biological feature information association table is pre-acquired and generated by using the above ergonomic setting method, and is uploaded and executed on the machine, so that the user can perform double verification of the identity authentication information and the biological feature information when using the machine, thereby ensuring the accuracy and safety of the operation authorization of the machine, avoiding the operation of the machine by unauthorized personnel, facilitating management, and opening different permission levels according to the compliance of the double verification, so that the user can freely acquire different operation permissions, and other users can understand, familiarize with and strengthen the training effect of the machine.

The utility model relates to an ultrasonic probe clamping device for an ultrasonic surgical robot, and the device comprises a connecting base which comprises a mechanical arm connecting plate and a mounting seat fixed at the lower part of the mechanical arm connecting plate; the clamping assembly comprises a fixed clamping piece and a rotary clamping piece, the fixed clamping piece is detachably and fixedly connected with the mounting base, and the rotary clamping piece is rotationally connected with the fixed clamping piece on one side; on the other opposite side, a first screw rotationally connected to one rotary clamping piece is rotationally arranged in a first screw positioning groove correspondingly formed in the other rotary clamping piece and then is locked from the tail end through a first locking nut to be fixedly connected, and a clamping cavity used for clamping an ultrasonic probe is defined by the rotary clamping piece and the fixed clamping piece. The ultrasonic probe clamping device adapts to ultrasonic probes of different models by only replacing the clamping assembly, operation is easy and convenient, and tedious disassembly caused by connection with a mechanical arm is reduced.

1. Name of the product in this design: Surgical Positioner. 2. Purpose of this design: For navigation and positioning of surgical robots. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

Provided are a detection apparatus (100) for an interventional surgical robot and an interventional medical sterile box (10). The detection apparatus (100) comprises: a capacitance detection assembly (101), a detection circuit (102) connected to the capacitance detection assembly (101), and a processor connected to the detection circuit (102). The capacitance detection assembly (101) is mounted outside a liquid cavity channel (111), and is used for detecting a capacitance signal in the liquid cavity channel (111) and sending the same to the processor. The processor is used for receiving the capacitance signal and determining, on the basis of the capacitance signal, whether a medical instrument (2) is present in the liquid cavity channel (111) at the mounting position of the capacitance detection assembly (101). By means of the detection of the position of the medical instrument (2), repeatedly performing a penetration operation of the medical instrument (2) is avoided, thereby improving the efficiency of interventional surgery.

The invention belongs to the technical field of intelligent medical control, and particularly relates to a hysteroscope surgical robot control method and system combining visual servo and remote cooperative operation. According to the method, time difference, spatial difference and image error between input of an operation terminal and response of a robot are analyzed through multi-mode information collection, a deviation index set is constructed, an operation mode is judged according to the deviation index set, real-time switching among an autonomous mode, a cooperative mode and a guiding mode is achieved, and a corrected or amplitude-limited control instruction is output. The system further combines image features and tactile feedback to realize real-time adjustment of the position of the instrument, and generates an image prompt layer according to the risk level and outputs visual warning information. And under the condition that the error continuously exceeds the limit, the system can automatically execute forced amplitude limiting and area locking, so that the operation safety is improved. By constructing a closed-loop control link, high-precision collaboration and safe intervention in remote minimally invasive operation are realized, and the method has a good clinical application prospect.

The invention discloses a flexible surgical robot with an end effector automatic replacement function, and relates to the technical field of medical instruments, the robot comprises a rope-driven manipulator, a storage library and a part replacement manipulator; a driving rod capable of controlling telescopic movement is arranged in the rope-driven manipulator; the operating end is provided with an end effector capable of being connected in a pluggable mode, the end effector is provided with a transmission mechanism and a locking mechanism, and the transmission mechanism is connected with the driving rod in a pluggable mode and used for converting telescopic movement of the driving rod into operation driving force of the end effector. The locking mechanism is used for controlling the fixed connection state of the transmission mechanism and the driving rod; a plurality of end effectors are stored in the storage library; the part replacing manipulator is used for triggering the locking mechanism to unlock and carrying out replacing operation; according to the scheme, full-automatic replacement of the end effector can be completed without manual intervention after the mechanical arm is withdrawn out of the body, and the problems of sterile environment damage and inconsistent connection precision caused by manual intervention are effectively avoided.

The invention belongs to the technical field of surgical robot aided decision making, and discloses a urinary calculus robot aided method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining multi-modal data of a patient before an operation, carrying out the time alignment of the multi-modal data through employing a Kalman filtering algorithm, obtaining the multi-modal data after time alignment, and carrying out the calculation of the multi-modal data after time alignment; through a preset image registration energy function and a preset deformation field model, performing spatial registration on real-time video stream data of a patient in an operation and the time-aligned multi-modal data to obtain registered real-time modal data; inputting the registered real-time modal data into a preset path generation model and a preset action generation model, generating an optimal puncture path and a corresponding optimal action vector, and outputting the optimal puncture path and the optimal action vector to assist the urinary calculus robot in performing surgical operation; by means of the method, the safety and predictability of the urinary calculus operation are improved.

The application relates to the technical field of medical equipment, in particular to a guiding method based on a 3D camera and a CT image and a puncture surgical robot system, which comprises the following steps: S1. preoperative CT three-dimensional reconstruction and point cloud extraction, to obtain a CT point cloud coordinate system; S2. hand-eye calibration of a mechanical arm and a 3D camera; S3. transformation of the CT point cloud coordinate system to a robot reference coordinate system through registration of the CT point cloud and the camera point cloud; and S4. puncture guiding through the robot reference coordinate system, which is based on multi-view point cloud reconstruction technology, does not need special calibration devices to dynamically calibrate the mechanical arm-3D camera pose relationship, and solves the problems of high-precision tools and complex operation in traditional methods.

The utility model provides a shoulder glenoid side drilling device for a surgical robot, which solves the problem that the existing shoulder glenoid handle and the existing shoulder glenoid drill sleeve can shake in the use process and further reduce the drilling precision, and adopts the technical scheme that a measurer handle is provided with a tracer interface which is electrically connected with a tracer; the measurer handle comprises an adapter, a handle and a sleeve, the inner wall of the sleeve is sleeved with a core rod with the two ends exposed, the outer wall of the sleeve is further provided with a third limiting hole, a groove is formed in the position, corresponding to the third limiting hole, of the outer wall of the core rod, and a pin is inserted into the third limiting hole and the groove so as to limit the rotation angle of the core rod; a rotating wrench is coaxially fixed to one end of the core rod through a connecting piece, an inserting rod is vertically fixed to the tail end of the other end of the core rod outwards, the side wall of the tail end extends outwards to form a third protruding part, a limiting rod parallel to the inserting rod is vertically fixed to the third protruding part outwards, and a through hole is formed in the bottom of the adapter so that the inserting rod can be fixed in a sleeved mode.

An electrode apparatus for blocking or controlling nerves in a body according to an embodiment of the present disclosure includes: a main body including a shaft; an electrode unit formed to be drawn out from one end of the shaft and configured to denervate or modulate at least a part of nerves on a tube in the body; an electrode guide coupled to at least a part of the electrode unit and to guide the electrode unit to be brought into contact with the tube in the body; an electrode driving unit including a tensile force maintenance unit connected to the electrode unit and configured to move the electrode unit in forward and backward directions and provide a tensile force to the electrode unit; an electrode guide driving unit connected to the electrode guide and configured to move the electrode guide in the forward and backward directions; and a motor interlocking unit connected to the electrode driving unit and the electrode guide driving unit and configured to transfer a rotation amount generated by a plurality of motors to the electrode driving unit and the electrode guide driving unit.A surgical robot according to another embodiment of the present disclosure includes: an electrode apparatus; a robot arm including a plurality of motors connected to the motor interlocking unit and configured to transfer a rotation amount to the electrode driving unit and the electrode guide driving unit through the motor interlocking unit; and a main body configured to support the robot arm.