CN114343846A

CN114343846A - Adapter for surgical robot and ultrasonic scalpel system

Info

Publication number: CN114343846A
Application number: CN202111525927.3A
Authority: CN
Inventors: 邹剑龙; 郑炜; 崔亮; 李学松
Original assignee: Beijing Anhejiabaoer Technology Co ltd
Current assignee: Beijing Anhejiabaoer Technology Co ltd
Priority date: 2021-12-14
Filing date: 2021-12-14
Publication date: 2022-04-15

Abstract

The application relates to an adapter and an ultrasonic scalpel system for a surgical robot, wherein the adapter for the surgical robot comprises a bearing platform, a jaw opening and closing mechanism and a jaw rotating mechanism; the bearing platform is fixedly connected with the mechanical arm and is used for fixedly supporting the ultrasonic scalpel; the jaw opening and closing mechanism comprises a jaw opening and closing assembly positioned in the bearing platform; the jaw opening and closing mechanism further comprises an opening and closing driving assembly for driving the jaw opening and closing assembly to slide relative to the bearing platform; the jaw rotating mechanism comprises a jaw rotating assembly positioned in the bearing platform; the jaw rotating mechanism further comprises a rotating driving assembly for driving the jaw rotating mechanism to rotate relative to the bearing platform. This application has the opening and closing and the more accurate effect in position that makes ultrasonic scalpel in application.

Description

Adapter for surgical robot and ultrasonic scalpel system

Technical Field

The present application relates to the field of minimally invasive surgical instruments, and more particularly, to an adapter and an ultrasonic scalpel system for a surgical robot.

Background

The ultrasonic scalpel adopts the ultrasonic energy transmitted to the cutter bar by the transducer to treat soft tissue, completes cutting and blood coagulation simultaneously, can ensure less lateral thermal injury of the tissue, and is suitable for cutting the soft tissue needing bleeding control and minimal thermal injury. An ultrasonic scalpel is a necessary surgical instrument in various minimally invasive surgical operations. With the popularization of minimally invasive surgery, an ultrasonic surgical knife has become a conventional surgical instrument.

Referring to fig. 1, 2 and 3, the conventional ultrasonic surgical blade has a long straight bar shape, and includes a blade bar 1, an outer tube 12, a handle 111, an inner tube 11, a jaw 19, a transducer 191, a rotary sleeve 14, a sliding key 13, an actuating cylinder 18, a locking ring 141, a connecting cylinder 16 and a spring 17. The tool bar 1 is used for being connected with the transducer 191, the inner tube 11 is sleeved on the tool bar 1, the outer tube 12 is sleeved on the inner tube 11, and the clamp jaws 19 are positioned at the end part of the inner tube 11 and are opened and closed through the axial movement of the inner tube 11; the connecting cylinder 16 is sleeved on the outer tube 12 and is axially clamped with the outer tube 12; the sliding key 13 is fixedly connected to the outer wall of the rotating sleeve 14 and arranged along the axial direction of the rotating sleeve 14, the rotating sleeve 14 is sleeved on the outer tube 12 and fixed on the outer tube 12 through a locking ring 141, the inner tube 11, the outer tube 12 and the rotating sleeve 14 are clamped along the radial direction of the cutter bar 1 through a pin 15, the inner tube 11 is provided with a key groove for the pin 15 to slide along the axial direction of the cutter bar 1, and the inner tube 11 is fixedly connected with the connecting cylinder 16; the spring 17 is sleeved on the connecting cylinder 16, the action cylinder 18 is sleeved on the connecting cylinder 16 and the rotary sleeve 14 and is fixedly connected with the connecting cylinder 16, two steps are arranged on the outer wall of the action cylinder 18, the step at the tail end is convenient for a user to pull the action cylinder 18 by hand, and a clamping groove 142 is formed at the other position and is used for marking and indicating the tail end position of the action cylinder 18 and distinguishing the action cylinder 18 from the rotary sleeve 14; the movement of the actuating cylinder 18 in the axial direction of the knife bar 1 compresses the spring 17 or releases the spring 17 which has been compressed. In use, the tool bar 1 is connected to the transducer 191, and in some prior art, for the convenience of human operation, the transducer 191 is usually fixedly connected to the handle 111, that is, the tool bar 1 is regarded as fixed. The user slides the action barrel 18 along the length direction of the cutter bar 1 to enable the action barrel 18 to drive the connecting barrel 16 to move, and the inner tube 11 can move relative to the cutter bar 1 along with the connecting barrel 16 due to the fact that the key groove is formed in the inner tube 11, and therefore opening and closing of the jaw 19 are achieved; in addition, the user can also rotate the rotary sleeve 14 after loosening the locking ring 141, and the outer tube 12, the inner tube 11 and the arbor 1 are rotated together by the pin 15, so as to change the posture of the jaw 19.

In the process of implementing the application, the inventor finds that at least the following problems exist in the technology: when the ultrasonic scalpel is applied to minimally invasive surgery, the bleeding amount needs to be controlled, and the thermal injury is caused to the minimum extent while soft tissue is cut, so that the precision requirement on the operation process is high, the manual adjustment of the opening and closing of the jaws and the unstable error range of the posture of the jaws are difficult to achieve, and the high-precision requirement is difficult to achieve.

Disclosure of Invention

In order to enable the opening and closing and the position of the ultrasonic scalpel in the application process to be more accurate, the application provides an adapter for a surgical robot.

The application provides an adapter for surgical robot adopts following technical scheme:

an adapter for a surgical robot comprises a bearing platform, a jaw opening and closing mechanism and a jaw rotating mechanism; the bearing platform is fixedly connected with the mechanical arm and is used for fixedly supporting the ultrasonic scalpel; the clamp jaw opening and closing mechanism comprises a clamp jaw opening and closing assembly which is positioned in the bearing platform and can slide relative to the bearing platform, and the clamp jaw opening and closing assembly is used for abutting against the outer wall of an action barrel of the ultrasonic scalpel and pushing the action barrel to slide relative to the inner tube along the axial direction; the opening and closing mechanism of the clamp jaws also comprises an opening and closing driving assembly for driving the clamp jaw opening and closing assembly to slide relative to the bearing platform, and the opening and closing driving assembly comprises a connecting end exposed outside the bearing platform and used for being connected with a power output system of the mechanical arm; the jaw rotating mechanism comprises a jaw rotating assembly which is positioned in the bearing platform and can rotate relative to the bearing platform, and the jaw rotating assembly is used for being buckled on the sliding key and driving the inner tube fixed shaft to rotate; the jaw rotating mechanism further comprises a rotating driving assembly for driving the jaw rotating mechanism to rotate relative to the bearing platform, and the rotating driving assembly comprises a connecting end exposed outside the bearing platform and used for being connected with a power output system of the mechanical arm.

Through adopting above-mentioned technical scheme, open and shut the subassembly joint on ultrasonic scalpel through the pincers jaw, make the drive assembly that opens and shuts can transmit power to ultrasonic scalpel's action section of thick bamboo on, drive the subassembly removal that opens and shuts of pincers jaw through the drive assembly that opens and shuts, realize that the action section of thick bamboo drives the inner tube and removes, and then reach the purpose of adjusting the degree of opening and close of pincers jaw. The clamp jaw rotating assembly is connected to the ultrasonic scalpel in a clamped mode, the rotating driving assembly can transmit force to the rotating sleeve, the rotating sleeve drives the outer tube to rotate, and therefore the purpose of adjusting the posture of the clamp jaw is achieved. The opening and closing time and the opening and closing degree of the clamp jaws can be controlled more accurately by controlling the opening and closing driving assembly, the posture adjustment of the clamp jaws can be controlled more accurately by controlling the opening and closing of the rotating driving assembly, namely, the posture and the action of the clamp jaws are more accurate, and the effects of reducing the amount of bleeding in an operation and reducing the thermal injury degree of soft tissues can be achieved.

Optionally, the jaw opening and closing assembly includes a connecting platform capable of sliding relative to the bearing platform, and two clamping arms rotatably connected to the connecting platform, and a space for accommodating the actuating cylinder is formed between the two clamping arms; the locking elastic piece is used for driving the two clamping arms to abut against the action barrel; the opening and closing driving assembly is used for driving the connecting platform to slide relative to the bearing platform.

Through adopting above-mentioned technical scheme, the setting up of two card arms makes the joint relation between card arm and the supersound scalpel more stable, has promoted and has realized the stability that this process was opened and close to the pincers jaw through opening and shutting drive assembly. The ultrasonic scalpel belongs to a disposable medical instrument and needs to be frequently replaced, and the rotary connection between the clamping arm and the jaw opening and closing assembly enables the clamping arm to be installed and separated relative to the ultrasonic scalpel through rotation, so that a user can conveniently replace the ultrasonic scalpel; the locking elastic piece continuously exerts the power that is close to each other to two card arms for what can be stable after the ultrasonic scalpel installation is held tightly by two card arms, improved the joint strength between card arm and the ultrasonic scalpel, make the drive assembly that opens and shuts can drive the action section of thick bamboo on the ultrasonic scalpel through the card arm and remove, and then realize opening and close of pincers jaw.

Optionally, the locking elastic part is used for driving the two clamping arms to be clamped in the clamping groove of the ultrasonic scalpel; the quick-release assembly is arranged on the bearing platform and comprises a jacking device which is connected to the bearing platform in a sliding mode, and a working end which is used for pushing the two clamping arms to slide out of the clamping grooves is arranged on the jacking device.

Through adopting above-mentioned technical scheme, when needs are dismantled or are installed ultrasonic scalpel, through the slip back-out ware, make the back-out ware remove to the card arm, the work end on the back-out ware can push up two card arms to opening for installation passageway grow between card arm and the ultrasonic scalpel, ultrasonic scalpel can obtain the activity space, and the staff of being convenient for changes ultrasonic scalpel.

Optionally, the quick release assembly further comprises a reset elastic member fixedly connected with the connecting platform; the reset elastic piece is used for pushing the ejector to reset.

By adopting the technical scheme, after the two clamping arms are spread by the ejector to obtain a larger installation channel and the ultrasonic scalpel is replaced, the force for driving the ejector to move towards or be kept between the two clamping arms is removed, the ejector can escape from the installation channel between the two clamping arms under the action of the reset elastic piece, and then the two clamping arms can be connected with the ultrasonic scalpel again in an encircling posture; in addition, the reset elastic piece can also increase the resistance received when the ejector opens the two clamping arms, the possibility of separation between the clamping arms and the ultrasonic scalpel caused by mistaken touch or other errors is reduced, and the stability of the opening and closing process of the jaw is improved.

Optionally, the opening and closing driving assembly comprises a lead screw rotatably connected with the bearing platform, a lead screw nut in threaded connection with the lead screw, and a guide rod fixedly connected with the bearing platform, wherein the lead screw nut is sleeved on the guide rod, and the jaw opening and closing assembly is fixedly connected with the lead screw nut; one end of the screw rod is exposed out of the bearing platform, and the end of the screw rod exposed out of the bearing platform is a connecting end connected with a power output system of the mechanical arm.

Through adopting above-mentioned technical scheme, the integrated configuration of lead screw, screw nut and guide bar is simple, and the maintenance of being convenient for, simultaneously because screw nut's removal is based on the lead screw rotates, so screw nut's displacement volume is easy to the accuse, and the displacement volume of the jaw subassembly that opens and shuts promptly is easy to the accuse more. In order to further improve the working stability of the ultrasonic scalpel, the bearing platform is connected to the mechanical arm, the screw power receiving end exposed out of the bearing platform is connected with an external power source, the external power source selects a stepping motor with a control function to further improve the accuracy of the position of the screw nut, namely the accuracy of the opening range of the jaw is improved, and meanwhile, the mechanical arm can replace a human hand to perform operation actions with higher precision, so that the precision of the ultrasonic scalpel in application is improved.

Optionally, the jaw pivot assembly is pivotally connected to the attachment platform.

Through adopting above-mentioned technical scheme, the pincers jaw rotates the subassembly and connects on connecting the platform, has reduced the required space of subassembly installation, has reduced load-bearing platform's volume, has reduced the blockking of equipment volume to user's sight, provides bigger field of vision scope for the user.

Optionally, the jaw rotating assembly comprises a limiting flange joint rotatably connected with the bearing platform, the rotation driving assembly is used for driving the limiting flange joint to rotate around a fixed shaft, a coaxial sleeve hole is formed in the limiting flange joint, and at least one clamping structure forming a clamping relationship with a sliding key of the ultrasonic scalpel is arranged on the side wall of the sleeve hole; the rotation driving assembly is used for driving the fixed shaft of the limiting flange joint to rotate.

Through adopting above-mentioned technical scheme, the setting of joint structure can with the smooth key looks adaptation on the supersound scalpel, with smooth key card on the hole inner wall that cup joints of joint structure department, can realize the joint between supersound scalpel and the rotation drive gear in circumference, and then make to rotate the drive assembly and can drive the spacing flange joint and rotate, realize connecting and then drive the purpose of outer tube pivoted mode adjustment pincers jaw gesture through rotating the spacing flange.

Optionally, the rotation driving assembly includes a gear set connected to the bearing platform, one gear of the gear set is coaxially and fixedly connected to the limiting flange joint, a rotating shaft corresponding to another gear of the gear set is exposed on the bearing platform, and one end of the rotating shaft exposed on the bearing platform is a connecting end for connecting with a power output system of the mechanical arm.

By adopting the technical scheme, the power output system of the mechanical arm transmits power to the limiting flange joint through the gear set, and drives the limiting flange joint fixed shaft to rotate, so that the ultrasonic scalpel can be driven to rotate, and the posture of the jaw of the clamp can be adjusted.

Optionally, a tool identification assembly is disposed on the carrying platform, and the tool identification assembly includes a memory configured to be read and/or modified by the robot.

Through adopting above-mentioned technical scheme, in order to further improve ultrasonic scalpel's job stabilization nature, select to connect load-bearing platform on the arm. Because the ultrasonic scalpel has multiple specifications, and the relationship between the displacement of the action cylinder and the opening and closing degree of the jaw is different among the different specifications, information which can be read and identified by the manipulator can be written in the tool identification assembly, so that the manipulator can identify and recognize the ultrasonic scalpel and quickly correspond to an adaptive operation program.

In order to improve the operation precision in the related operation using the ultrasonic scalpel, the application also provides an ultrasonic scalpel system.

The application provides an ultrasonic scalpel system, adopts following technical scheme:

an ultrasonic scalpel system comprises the adaptor for a surgical robot and a mechanical arm, wherein a bearing platform is fixedly connected onto the mechanical arm, an opening and closing driving assembly and a rotating driving assembly are respectively connected with a power output system of the mechanical arm, and an adapter for identifying and/or modifying a tool identification assembly is arranged on the mechanical arm.

By adopting the technical scheme, the adapter for the surgical robot is connected with the mechanical arm through the bearing platform, and the jaw opening and closing assembly and the jaw rotating assembly are driven by the power output system on the mechanical arm, so that the operation precision in the operation is obviously improved, and the error range is reduced; in addition, through the adapter on the arm, the cutter type of current installation can be discerned more fast more accurately, and then selects different operation scheme etc. and prestores data.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the opening and closing component is clamped on the ultrasonic scalpel, so that the opening and closing driving component can transmit force to the action barrel of the ultrasonic scalpel, the opening and closing driving component drives the jaw opening and closing component to move, the action barrel drives the inner tube to move, and the opening and closing degree of the jaws is adjusted. The rotary sleeve is connected with the outer tube in a clamped mode, and the outer tube is connected with the rotary sleeve in a clamped mode. The opening and closing time and the opening and closing degree of the clamp jaws can be controlled more accurately by controlling the opening and closing driving assembly, and the posture adjustment of the clamp jaws can be controlled more accurately by controlling the opening and closing of the rotating driving assembly. Namely, the posture and the action of the clamp jaws are more accurate, and the effects of reducing the bleeding amount in the operation and reducing the thermal injury degree of soft tissues can be achieved;

2. in order to further improve the working stability of the ultrasonic scalpel, the bearing platform is connected to the mechanical arm. Because the ultrasonic scalpel has multiple specifications, and the relationship between the displacement of the action cylinder and the opening and closing degree of the jaw is different among the different specifications, information which can be read and identified by the manipulator can be written in the tool identification assembly, so that the manipulator can identify and recognize the ultrasonic scalpel and quickly correspond to an adaptive operation program.

Drawings

Fig. 1 is a schematic diagram illustrating the outline of an ultrasonic scalpel in the prior art.

Fig. 2 is a schematic view of the internal structure of an ultrasonic scalpel in the background art.

FIG. 3 is a diagram illustrating the prior art use of an ultrasonic surgical blade

FIG. 4 is a schematic diagram illustrating an application scenario of the present application;

fig. 5 is a schematic view showing a connection relationship between the ultrasonic surgical blade and the housing.

Fig. 6 is an exploded view showing the distribution positions of the respective components in the example.

Fig. 7 is a schematic diagram showing the structure of the docking platform on the robot arm in the embodiment.

Fig. 8 is a schematic diagram showing the structure of the opening and closing assembly of the j aws in the embodiment.

Fig. 9 is a schematic diagram showing the structure of the opening and closing driving assembly in the embodiment.

Fig. 10 is a schematic diagram showing the position of the locking elastic member in the embodiment.

Description of reference numerals: 1. a cutter bar; 11. an outer tube; 111. a handle; 12. an inner tube; 13. a sliding key; 14. a rotating sleeve; 141. locking a ring; 142. a card slot; 15. a pin; 16. a connecting cylinder; 17. a spring; 18. an action cylinder; 19. a jaw; 191. a transducer; 2. a load-bearing platform; 21. a panel; 22. a protective shell; 23. a support platform; 24. a limiting sleeve; 3. a quick release assembly; 31. a jacking device; 32. a connecting rod; 33. a restoring elastic member; 4. installing a channel; 5. an opening and closing drive assembly; 51. a first gear set; 52. a guide bar; 53. a lead screw nut; 54. a lead screw; 6. a jaw opening and closing assembly; 61. connecting the platform; 62. a clamp arm; 621. buckling positions; 63. a telescopic rod; 64. locking the elastic piece; 7. a rotation drive assembly; 8. a jaw rotating assembly; 81. a clamping block; 82. a limiting flange joint; 83. a limiting groove; 9. a tool identification assembly; 91. a mechanical arm; 92. a docking platform; 93. a power take-off system; 94. a metal contact; 95. a connection bit; 96. rotating the connecting disc; 97. positioning holes; 98. connecting grooves; 99. and (5) positioning the rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by persons of ordinary skill in the art with the understanding of the inventive concept of the present invention are within the scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

To facilitate understanding of the adaptor for a surgical robot (hereinafter, simply referred to as an adaptor) provided in the embodiments of the present application, an application scenario thereof will be described first. The utility model provides an adapter is used for cooperating ultrasonic scalpel to use, and ultrasonic scalpel among the prior art uses, usually adopts to use its cooperation grab handle, needs manual operation, but precision can't reach the required precision to the operation during manual operation. To this end, embodiments of the present application provide an adapter such that an ultrasonic surgical blade may be precisely controlled by a robotic arm. The adaptor provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings.

First, the description of the structure of the ultrasonic scalpel according to the present application can refer to the corresponding descriptions in fig. 1, fig. 2, and fig. 3, and will not be repeated herein.

Referring to fig. 4, fig. 4 shows a schematic view of an application scenario of the adaptor of the present application. The adapter that this application embodiment provided is as a connection structure for with arm 91 fixed connection, and be used for the fixed stay ultrasonic scalpel, thereby constitute an organic whole with ultrasonic scalpel and arm 91. The ultrasonic scalpel is used as an executing end of the mechanical arm 91, and the movement of the mechanical arm 91 can replace manual operation to improve the precision of the ultrasonic scalpel during surgery. In addition, a drive mechanism is integrated into the adapter to effect rotation of the ultrasonic surgical blade and control opening and closing of the jaws 19 of the ultrasonic surgical blade. When the adapter is connected with the mechanical arm 91, the driving mechanism inside the adapter is connected with the power output system of the mechanical arm 91, so that the control of the specific action of the ultrasonic scalpel through the power output system of the mechanical arm 91 is realized.

Referring to fig. 7, a docking platform 92 and a power output system 93 are integrated on a conventional robot arm 91 for externally connecting functional equipment, high-precision displacement of the externally connected functional equipment is realized through the robot arm 91, and start and stop of the externally connected functional equipment are controlled through the power output system 93. The adapter connects the ultrasonic scalpel to the docking platform 92 of the robotic arm 91 and controls the opening, closing and rotation of the upper jaw 19 of the ultrasonic scalpel through the power output system 93 of the robotic arm 91.

Referring to fig. 5 and 6, the embodiment of the application discloses an adapter for a surgical robot, which comprises a bearing platform 2, a jaw opening and closing mechanism and a jaw rotating mechanism. Wherein the load-bearing platform 2 serves as a support structure for the above-mentioned components. The jaw opening and closing mechanism comprises a jaw opening and closing assembly 6 and an opening and closing driving assembly 5, the jaw opening and closing assembly 6 is located in the bearing platform 2 and can slide relative to the bearing platform 2, the jaw opening and closing assembly 6 is used for abutting against the outer wall of an action cylinder 18 of the ultrasonic scalpel and pushing the action cylinder 18 to slide along the axial direction relative to the cutter bar 1, and then the inner tube 11 is driven to slide along the axial direction relative to the cutter bar 1, so that the opening and closing control of a jaw 19 of the ultrasonic scalpel is realized. The opening and closing driving component 5 serves as a power end and provides power for the jaw opening and closing component 6 and is used for driving the jaw opening and closing component 6 to slide relative to the bearing platform 2

The jaw rotating mechanism comprises a jaw rotating assembly 8 and a rotating driving assembly 7, wherein the jaw rotating assembly 8 is positioned in the bearing platform 2 and can rotate relative to the bearing platform 2, and the jaw rotating assembly 8 is used for being buckled on a sliding key 13 of the ultrasonic scalpel and driving an outer tube 12 to rotate in a fixed shaft mode, so that the ultrasonic scalpel can rotate. That is, the rotary drive assembly 7 rotates the jaw pivot assembly 8 relative to the load bearing platform 2 to effect rotation of the jaws 19 of the ultrasonic surgical blade.

When the structure is assembled specifically, the opening and closing driving assembly 5 is connected to the bearing platform 2, the jaw opening and closing assembly 6 is fixedly connected to the opening and closing driving assembly 5, and the opening and closing driving assembly 5 drives the jaw opening and closing assembly 6 to perform linear motion; the jaw rotating assembly 8 is connected to the bearing platform 2, the rotating driving assembly 7 is connected to the bearing platform 2 in a rotating mode, and the rotating driving assembly 7 drives the jaw rotating assembly 8 to perform dead axle rotation.

Referring to fig. 5 and 6, the quick release assembly 3 is disposed on the carrying platform 2. The quick-release component 3 is connected on the bearing platform 2 in a sliding manner and is used in cooperation with the opening and closing component 6 of the jaw. The opening and closing driving assembly 5 and the jaw opening and closing assembly 6 are located on one side of the bearing platform 2, the rotating driving assembly 7 and the jaw rotating assembly 8 are located on the other side of the bearing platform 2, and the quick-release assembly 3 is located above the rotating driving assembly 7. Through the arrangement, the layout in the bearing platform 2 is compact, the structures are not interfered with each other, the connection strength of each region on the bearing platform 2 is closer, and the industrial production is more friendly.

It will be appreciated that other embodiments are possible in addition to the above described mounting arrangements, such as a rotary drive assembly 7 fixedly attached to the opening and closing drive assembly 5, a jaw pivot assembly 8 rotatably attached to the opening and closing drive assembly 5, and a jaw opening and closing assembly 6 fixedly attached to the jaw pivot assembly 8. The layout mode reduces the space required by component installation, reduces the volume of the bearing platform 2, reduces the obstruction of the equipment volume to the sight of a user, and provides a larger visual field range for the user.

Referring to fig. 5 and 6, the above-mentioned loading platform 2 may be of a housing structure. Exemplarily, the bearing platform 2 includes a panel 21, a supporting platform 23 and a protective shell 22, the protective shell 22 is in a box cover shape with an opening at the bottom, a plurality of jaws are integrally formed at the bottom of the protective shell 22, a plurality of clamping holes equal to the jaws are formed in the edge of the panel 21, the panel 21 is connected with the protective shell 22 through the clamping relationship between the jaws and the clamping holes, and the panel 21 cooperates with the protective shell 22 to cover the supporting platform 23, the opening and closing driving assembly 5, the jaw opening and closing assembly 6, the rotation driving assembly 7, the jaw rotating assembly 8, the quick-release assembly 3 and the tool identification assembly 9.

Referring to fig. 6 and 7, the robotic arm 91 includes a docking station 92 on the actuation end of the robotic arm 91. The butt-joint platform 92 is provided with a connecting position 95 protruding upwards, the connecting position 95 is provided with a buckle, the panel 21 is provided with a connecting groove 98 matched with the connecting position 95, a clamping position matched with the buckle is arranged in the connecting groove 98, and the panel 21 is detachably and fixedly connected with the butt-joint platform 92 in the clamping position of the connecting groove 98 through clamping of the buckle on the connecting position 95; in addition, a positioning rod 99 for being inserted into the connecting position 95 is further provided in the connecting groove 98 for positioning.

With reference to fig. 6, an installation channel 4 for accommodating an ultrasonic scalpel is formed in the supporting platform 23, through holes communicated with the installation channel 4 are formed in the panel 21 and the protective shell 22, after the ultrasonic scalpel is installed in the installation channel 4, the jaw 19 is located on the outer side of the panel 21, and the last step portion at the tail end of the action cylinder 18 is located on the outer side of the protective shell 22.

During assembly, the ultrasonic scalpel is installed through the installation channel 4, at the moment, part of the entity of the rotating sleeve 14, the sliding key 13 and part of the entity of the action cylinder 18 are located inside the shell, the locking ring 141 is connected to the rotating sleeve 14 in a threaded mode and then abuts against the panel 21, and the tail end of the action cylinder 18 abuts against the end face of the protection shell 22, so that the ultrasonic scalpel is fixed on the connector. The opening and closing driving component 5 provides or transmits power for the jaw opening and closing component 6, so that the jaw opening and closing component 6 drives the actuating cylinder 18 to do linear motion along the length direction of the mounting channel 4, and the aim of controlling the opening and closing degree of the jaws 19 by driving the inner tube 11 to move is fulfilled. The jaw rotating assembly 8 is powered or conveyed by the rotating driving assembly 7, so that the jaw rotating assembly 8 drives the rotating sleeve 14 to rotate in a fixed axis manner, and the opening direction of the jaw 19 is controlled by driving the outer tube 12 to rotate.

Referring to fig. 6, the carrying platform 2 is provided with a tool recognition assembly 9, and the tool recognition assembly 9 includes a memory storing information that can be read and/or modified by the robot. Illustratively, the tool recognition assembly 9 includes a circuit board with a storage chip fixedly connected to the panel 21, the circuit board with the storage chip is provided with contacts for exchanging information in the storage chip with the outside, the contacts extend out of the panel 21, and the circuit board with the storage chip is pre-stored with model information of the tool.

With continued reference to fig. 6 and 7, the docking platform 92 is provided with metal contacts 94 for mating with the tool identification assembly 9 for information interaction. When panel 21 is connected on arm 91, will have the contact on the circuit board of storing the chip and the metal contact 94 butt joint on the arm 91, then connect panel 21 on arm 91, can realize that arm 91 passes through the information recognition cutter model in the accumulator, and then select corresponding operating procedure to operate through arm 91 accurate control ultrasonic scalpel.

In a preferred embodiment, the tool identification assembly 9 comprises a radio frequency card fixedly attached to the face plate 21 for adapting the robotic arm 91 to carry a wireless card reader or the like.

It should be understood that the circuit board with the storage chip is only one specific embodiment of the tool identification assembly 9, and other manners for implementing tool identification may be adopted in the embodiment of the present application.

Referring to fig. 8 and 9, the rotary jaw assembly 8 is located within the platform 2 and is rotatable relative to the platform 2, and the rotary jaw assembly 8 is adapted to engage the sliding key 13 and drive the outer tube 12 to rotate about a fixed axis, thereby rotating the ultrasonic surgical blade.

In a preferred embodiment, the support platform 23 may be viewed as a frame structure connecting an upper mounting plate and a lower mounting plate by a plurality of bolts. The j aw pivot assembly 8 includes a curb flange joint 82 that is pivotally connected to the load-bearing platform 2. When the load-bearing platform 2 comprises the support platform 23, the curb flange joints 82 are pivotally attached to the lower mounting plate of the support platform 23. The hollow part of the limiting flange joint 82 forms a sleeving hole, two limiting grooves 83 matched with the sliding keys 13 are formed in the inner walls of the sleeving holes, the limiting grooves 83 form clamping structures matched with the sliding keys 13, and the sleeving holes form a part of the installation channel 4. It should be understood that the limiting groove 83 is only an example of a clamping structure, and a clamping structure such as a limiting notch can be adopted to cooperate with the sliding key 13 in the embodiment of the present application. It should be understood that the limiting flange joint 82 limits the outer tube 12 in this application to rotation in a radial direction, and the outer tube 12 can slide in an axial direction relative to the limiting flange joint 82.

In addition, in order to ensure the axial spacing between the limiting flange joint 82 and the lower mounting plate, the jaw rotating assembly 8 further includes a fixture block 81 fixedly connected to the limiting flange joint 82. The cylinder section of the limiting flange joint 82 penetrates through the lower mounting plate and extends out of the lower mounting plate, the fixture block 81 is welded on the cylinder section of the limiting flange joint 82, clamping is achieved through the disc end of the limiting flange joint 82 and the fixture block 81, the sliding key 13 and the rotary sleeve 14 connected with the sliding key 13 are driven to rotate through rotation of the limiting flange joint 82, the outer tube 12 is further made to rotate, and adjustment of the posture of the jaw 19 is achieved.

It should be understood that the jaw pivot assembly 8 may be constructed in other ways than using a stop flange joint 82, such as a conventional mechanism that fits around and locks to a tubular structure, such as a jaw or locking ring.

Referring to fig. 8 and 9, the rotary drive assembly 7 is used to drive the jaw pivot assembly 8 to rotate. And the rotation driving assembly 7 comprises a connecting end exposed outside the bearing platform 2 and used for being connected with a power output system of the mechanical arm 91, so that the jaw 19 is driven to rotate by using the power output system of the mechanical arm 91 as power.

Illustratively, the drive assembly 7 comprises a gear train connected to the load-bearing platform 2, which is in particular mounted on the support platform 23. One gear in the gear set is coaxially and fixedly connected with the limiting flange joint 82, and the gear is a power output gear; the other gear of the gear set is used as a power input gear, a rotating shaft corresponding to the power input gear is exposed out of the bearing platform 2, and one end of the rotating shaft of the power input gear, which is exposed out of the bearing platform 2, is a connecting end for connecting with a power output system of the mechanical arm 91.

Specifically, the power output gear is coaxially sleeved on the limiting flange joint 82 and is fixedly connected with the limiting flange joint 82, and the end part of the rotating shaft of the power input gear extends out of the lower mounting plate and is used for connecting an external power part, such as a motor.

Referring to fig. 7 and 8, it should be noted that, in a preferred embodiment, a power output system 93 is disposed on the docking platform 92, the power output system 93 is represented as a plurality of metal positioning pillars on the panel 21, two of the metal positioning pillars are in a group and can rotate synchronously with the power output system 93, a rotating shaft of a power input gear in the gear set extends out of the lower mounting plate and is coaxially and fixedly connected with a rotating connection disc 96, and a positioning hole 97 adapted to the metal positioning pillars is formed in the rotating connection disc 96 and is used for connecting with the power output system 93 on the supporting arm and obtaining power. The rotary drive assembly 7 is connected with the docking platform 92 on the support arm by the structure of the rotary connecting disc 96, and the power output system 93 on the support arm transmits power to the position-limiting flange joint 82 through the rotary connecting disc 96.

When the clamp is used specifically, the torque generated by the external power part acting is transmitted to the limiting flange joint 82 through the gear set, and then the outer tube 12 is driven to rotate through the rotation of the limiting flange joint 82, so that the posture of the clamp jaw 19 is adjusted.

In other embodiments, the rotation driving assembly 7 includes a crank connecting rod, one end of the crank connecting rod is hinged to the edge of the end face of the position-limiting flange joint 82, and the other end of the crank connecting rod extends out of the supporting platform 23 and is connected with an external power member, so that the crank connecting rod rotates (or moves), and the reciprocating motion of the crank connecting rod is converted into the fixed-axis rotation of the position-limiting flange joint 82, thereby realizing the adjustment of the posture of the j aw 19.

Referring to fig. 8 and 9, in a preferred embodiment, the jaw opening and closing assembly 6 includes a connecting platform 61 and a latch arm 62 that are slidable relative to the support platform 2, and the opening and closing driving assembly 5 drives the connecting platform 61 to slide relative to the support platform 2. The card arm 62 is equipped with two, and two card arms 62 all rotate through the bolt and connect on connection platform 61, and the axis of rotation of card arm 62 sets up along the length direction of installation passageway 4, and the one end of card arm 62 extends to the direction of keeping away from connection platform 61, and card arm 62 realizes being close to or keeping away from to installation passageway 4 through rotating. The shape of the clamping arm 62 is matched with the clamping groove 142 on the ultrasonic scalpel, namely, the side wall of the clamping arm 62 is recessed inwards to form a buckling position 621 matched with the clamping groove 142, and a space formed by encircling between the two clamping arms 62 belongs to a part of the installation channel 4 and is used for accommodating the ultrasonic scalpel.

In addition, in order to ensure the stability of the moving process of the connecting platform 61, the opening and closing assembly 6 of the j aws further comprises two telescopic rods 63, the two telescopic rods 63 are respectively arranged at two sides of the connecting platform 61, the top end of each telescopic rod 63 is fixedly connected with the upper mounting plate, the bottom end of each telescopic rod 63 is fixedly connected with the connecting platform 61, and each telescopic rod 63 is fixedly connected with the opening and closing driving assembly 5.

Two card arms 62 can imbed in the draw-in groove 142 on the action section of thick bamboo 18, and when the drive assembly 5 that opens and shuts did work, drive assembly 5 that opens and shuts drove telescopic link 63 and removes, because telescopic link 63 will open and shut drive assembly 5 and connection platform 61 and connect to make the two motion state synchronous, so card arm 62 can remove at the length direction of installation passageway 4. In order to enable the clamp arm 62 to drive the actuating cylinder 18, the connecting cylinder 16 and the inner tube 11 of the ultrasonic scalpel to move together relative to the knife bar 1, the locking ring 141 needs to be screwed on the rotary sleeve 14, so that the locking ring 141 abuts against the panel 21, at this time, the tail end of the actuating cylinder 18 abuts against the end surface of the protective shell 22, that is, the ultrasonic scalpel is limited in the length direction of the installation channel 4, at this time, the movement of the clamp arm 62 drives the actuating cylinder 18, the connecting cylinder 16 and the inner tube 11, and the purpose of adjusting the opening and closing angle of the jaw 19 is achieved.

In other embodiments, the jaw opening and closing assembly 6 includes a hoop, and may be a structure such as a latch 81, a claw, or the like, which can be inserted into the slot 142 and axially limit the ultrasonic surgical blade.

Referring to fig. 9, in a preferred embodiment, a locking elastic member 64 is fixedly connected to the connecting platform 61, and the locking elastic member 64 is used for driving the two latch arms 62 to be latched in the latch grooves 142 of the ultrasonic scalpel.

Illustratively, the locking elastic member 64 is a locking spring, two ends of the locking spring are respectively and fixedly connected to the different clip arms 62, and when the locking spring is in a natural state, the ends of the two clip arms 62 far away from the connecting platform 61 are close to each other, and are in an encircling shape.

In other embodiments, the locking elastic member 64 may also be a two-piece torsion spring fixedly connected to the locking arm 62 and the connecting platform 61, and two ends of each torsion spring are fixedly connected to the locking arm 62 and the connecting platform 61, respectively.

In a preferred embodiment, the latch arm 62 is pivotally connected to the connecting platform 61 by a bolt, the bolt connecting the latch arm 62 is located between the two ends of the latch arm 62, and the locking spring is connected to the end of the latch arm 62 near the bolt, so as to reduce the resistance of the latch arm 62 moving away from the hinge point by the lever principle.

Referring to fig. 8 and 9, the opening and closing driving assembly 5 includes a lead screw 54 rotatably connected to the supporting platform 23, a lead screw nut 53 threadedly connected to the lead screw 54, and a guide rod 52 fixedly connected to the connecting platform 61. The two ends of the screw 54 are both provided with steps for being rotatably connected to the supporting platform 23 and simultaneously generating limiting along the direction of the installation channel 4, one end of the screw 54 is exposed out of the bearing platform 2, and the end of the screw 54 exposed out of the bearing platform 2 is a connecting end connected with a power output system 93 (fig. 7) of the mechanical arm 91.

Specifically, the lead screw nut 53 is sleeved on the guide rod 52, and the lead screw nut 53 is fixedly connected with the telescopic rod 63.

Referring to fig. 7 and 9, it should be noted that, in a preferred embodiment, a rotating connection disc 96 is coaxially and fixedly connected to an end portion of the lead screw 54 extending out of the lower mounting plate, the opening and closing driving assembly 5 is connected to the docking platform 92 on the mechanical arm 91 by adopting the structure of the rotating connection disc 96, the power output system 93 on the mechanical arm 91 transmits power to the lead screw 54 through the rotating connection disc 96, and the opening and closing driving assembly 5 and the rotating driving assembly 7 are connected to the power output system 93 through different rotating connection discs 96.

In use, an external drive member, such as an electric motor, is connected to the end of the lead screw 54 that extends beyond the lower mounting plate. The external power drives the lead screw 54 to rotate, and because the lead screw nut 53 is sleeved on the guide rod 52, and the lead screw 54 is limited in the direction of the installation channel 4 relative to the supporting platform 23, the lead screw nut 53 can make linear motion along the length direction of the lead screw 54, so that the telescopic rod 63 fixedly connected with the lead screw nut 53 drives the clamp arm 62 to make linear motion along the length direction of the installation channel 4, the action cylinder 18, the connecting cylinder 16 and the inner tube 11 move together, and the opening and closing degree of the clamp jaw 19 is changed.

In other embodiments, the opening and closing driving assembly 5 may also be an electric push rod fixedly connected to the connecting platform 61, two ends of the electric push rod are respectively fixedly connected to the connecting platform 61 and the upper mounting plate, and the piston rod of the electric push rod reciprocates to drive the connecting platform 61 to reciprocate, so as to drive the clamping arm 62 to move.

In a preferred embodiment, in order to meet the requirement of the installation position of the external power member and to obtain a larger torque for the lead screw 54, a first gear is fixedly connected to the lead screw 54 coaxially, a second gear engaged with the first gear is rotatably connected to the supporting platform 23, and the rotating shaft of the second gear extends out of the lower installation plate and is used for being connected with the external power member (such as a motor). The rotating speed of the screw 54 is reduced through the form of the gear set, and then a larger torque is obtained, so that the screw 54 can more stably drive the clamp arm 62 to move, and the opening and closing of the clamp jaw 19 are realized.

Referring to fig. 9 and 10, the quick release assembly 3 includes an ejector 31 slidably connected to the carrying platform 2, and the ejector 31 is provided with a working end for pushing the two latch arms 62 to slide out of the latch slots 142. Move to between two card arms 62 through knockout 31 to gradually get into between two card arms 62, make two card arms 62 separated by knockout 31, and then provide the activity space for ultrasonic scalpel, convenient to use person installs or dismantles.

Specifically, the ejector 31 is located between the upper mounting plate and the lower mounting plate, and is located in the area between the two latch arms 62. The ejector 31 is arranged to be wide at the top and narrow at the bottom, that is, the side wall of the ejector 31 is in the shape of an inclined plane extending from the top to the bottom inwards, and forms a working end for ejecting the two clamp arms 62.

With continued reference to fig. 9 and 10, the quick release assembly further includes a return spring 33 and a connecting rod 32, the return spring 33 is used to push the ejector 31 moving between the two latch arms 62 to return.

Specifically, the connecting rod 32 penetrates through the upper mounting plate along the length direction of the mounting passage 4, and the bottom end of the connecting rod 32 is fixedly connected with the ejector 31. The elastic reset element 33 in this embodiment includes a reset spring, the reset spring is sleeved on the connecting rod 32, the top end of the reset spring is fixedly connected to the connecting rod 32, the bottom end of the reset spring is fixedly connected to the upper mounting plate, and when the reset spring is in a natural state, the ejector 31 is located above the clamping arm 62 and is not abutted to the clamping arm 62. It is worth mentioning that the top end of the connecting rod 32 is fixedly connected with a button extending out of the protective shell 22 (fig. 6), the button extends out of the protective shell 22 (fig. 6), the protective shell 22 is provided with a position limiting sleeve 24 enclosing and blocking the bottom end of the button, and the position limiting sleeve 24 is used for limiting the limit pressing position of the button.

When the two clamp arms 62 need to be separated from the clamping groove 142 of the ultrasonic scalpel, a user presses a button, the connecting rod 32 drives the ejector 31 to move downwards, the ejector 31 is arranged to be wide at the top and narrow at the bottom, and the locking spring is connected to the end portion, close to the bolt, of the clamp arm 62, so that the clamp arm 62 forms a lever structure, the distance from the end portion, to be ejected, of the clamp arm 62 of the ejector 31 to the hinge point of the clamp arm 62 is larger than the distance from the locking spring to the hinge point of the clamp arm 62, and therefore the ejector 31 can easily enter the area between the two clamp arms 62 and can push the two clamp arms 62 open along with the continuous downward movement of the connecting rod 32. After the latch arms 62 disengage the latch slots 142, the user can withdraw the ultrasonic surgical blade from the protective case 22 by unscrewing the locking ring 141. In addition, after the ultrasonic scalpel is taken out, the user does not apply force to the button any more, the connecting rod 32 drives the ejector 31 to move reversely under the action of the return spring, and the two clamping arms 62 are restored to form the embracing posture under the return effect of the locking elastic piece 64.

In other embodiments, the quick release assembly 3 includes a jack 31 and an electric push rod fixedly connected to the jack 31, two ends of the electric push rod are respectively fixedly connected to the jack 31 and the upper mounting plate, the piston rod of the electric push rod reciprocates to drive the jack 31 to move, and meanwhile, the piston rod of the electric push rod can be retracted, so that the same resetting effect as the resetting elastic member 33 can be considered to be achieved.

Referring to fig. 9 and 10, in a preferred embodiment, there are two connecting rods 32, the bottom ends of the two connecting rods 32 are commonly connected to the ejector 31, the top ends of the two connecting rods 32 are commonly connected to the button, and two return springs are respectively sleeved on the different connecting rods 32. The two connecting rods 32 are arranged, so that the ejector 31 can keep the posture of easily ejecting the two clamping arms 62, and the working stability of the quick-release assembly 3 is improved.

Referring to fig. 9 and 10, in a preferred embodiment, the ejector 31 is provided with a bend to which the connecting rod 32 is connected. The connecting rod 32 is fixedly connected to the bending part, so that the space around the ejector 31 is larger, the space around the installation channel 4 is larger, and the possibility that the clamp jaw 19 is polluted or damaged due to the fact that the ultrasonic scalpel touches other parts in the assembling and disassembling process is reduced.

Referring to fig. 9 and 10, in a preferred embodiment, the end of the latch arm 62 facing away from the connecting platform 61 serves as the contact end of the ejector 31, and this end is bent upwardly and rounded at the intersection of the top surface and the side wall. The end of the clamping arm 62 extends upwards and is rounded, so that the ejector 31 can better and easily enter between the two clamping arms 62 which are close to each other and form an encircling structure, and the smoothness degree of the ejector 31 when the two clamping arms 62 are ejected is enhanced.

In summary, the principles of a preferred embodiment of the present application are described, preferably but not exclusively, by way of illustration: in order to control the opening and closing degree and the posture of the upper jaw 19 of the ultrasonic scalpel more precisely, the user selects to replace manual operation by the mechanical arm 91. Firstly, the locking ring 141 on the ultrasonic scalpel is removed, then the ultrasonic scalpel is inserted into the mounting channel 4 along the through hole on the protective shell 22, and is moved to the position where the last step of the action cylinder 18 abuts on the protective shell 22, along with the movement of the ultrasonic scalpel, the sliding key 13 on the ultrasonic scalpel passes between the two clamping arms 62 and is finally inserted into the limiting groove 83 on the inner wall of the limiting flange joint 82, the two clamping arms 62 are embedded into the clamping grooves 142 on the ultrasonic scalpel, then the locking ring 141 is screwed on the rotating sleeve 14, and at this time, the locking ring 141 abuts on the panel 21. The panel 21 is then installed toward the robot arm 91, where the panel can be connected through the own modular structure of the robot arm 91, and the power sources of the opening and closing driving assembly 5 and the rotating driving assembly 7 can also be selected from the own power output part, usually a motor, of the modular robot arm 91. During or after the installation of the panel 21, the tool information stored in the tool identification assembly 9 can be received and identified by the robot arm 91, and the robot arm 91 can interact with the server to select a proper operating system or acquire other required information. Next, in the operation stage of the ultrasonic scalpel, after the power output component on the modular mechanical arm 91 is worked, the screw 54 rotates, because both ends of the screw 54 are clamped with the supporting platform 23 in the direction of the installation channel 4, and the screw 54 can rotate around its own fixed axis, the screw nut 53 sleeved on the guide rod 52 can reciprocate along the length direction of the screw 54, the screw nut 53 drives the connecting platform 61 connected with the screw nut to move, and because the clamp arm 62 is embedded into the clamp groove 142, the clamp arm 62 can drive the actuating cylinder 18 to move together, so that the inner tube 11 moves, and the purpose of adjusting the opening and closing degree of the clamp jaw 19 is achieved. In addition, after the power output system 93 on the modular mechanical arm 91 works, the rotation driving assembly 7 can drive the limiting flange joint 82 to rotate, so that the sliding key 13 inserted in the limiting groove 83 drives the rotary sleeve 14 to rotate, namely the outer tube 12 rotates along with the rotation, and the purpose of adjusting the posture of the jaw 19 is achieved. When the ultrasonic scalpel needs to be detached, a user presses the button, the ejector 31 moves towards the space between the two clamping arms 62, the two clamping arms 62 are ejected gradually under the action of the inclined side wall of the ejector 31, namely, the clamping arms 62 are separated from the clamping grooves 142, at this time, the locking ring 141 is removed, and then the ultrasonic scalpel is taken out.

The application also provides an ultrasonic scalpel system, which can refer to fig. 4, and the system comprises the adaptor for the surgical robot and a mechanical arm 91, wherein the bearing platform 2 is fixedly connected to the mechanical arm 91, and the opening and closing driving assembly 5 and the rotating driving assembly 7 are respectively connected with a power output system 93 of the mechanical arm 91. Regard as the control end through arm 91, be connected ultrasonic scalpel with arm 91 through the adapter to through the action precision of the steerable ultrasonic scalpel of arm 91, make opening and close and the position of ultrasonic scalpel in the application process more accurate, reduce the intraoperative hemorrhage volume and reduce soft tissue thermal injury degree.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. An adapter for a surgical robot, characterized by: comprises a bearing platform (2), a jaw opening and closing mechanism and a jaw rotating mechanism;

the bearing platform (2) is fixedly connected with the mechanical arm (91) and is used for fixedly supporting the ultrasonic scalpel;

the clamp jaw opening and closing mechanism comprises a clamp jaw opening and closing assembly (6) which is positioned in the bearing platform (2) and can slide relative to the bearing platform (2), and the clamp jaw opening and closing assembly (6) is used for abutting against the outer wall of an action cylinder (18) of the ultrasonic scalpel and pushing the action cylinder (18) to slide along the axial direction relative to the inner tube (12); the jaw opening and closing mechanism further comprises an opening and closing driving assembly (5) for driving the jaw opening and closing assembly (6) to slide relative to the bearing platform (2), and the opening and closing driving assembly (5) comprises a connecting end exposed outside the bearing platform (2) and used for being connected with a power output system (93) of the mechanical arm (91);

the jaw rotating mechanism comprises a jaw rotating assembly (8) which is positioned in the bearing platform (2) and can rotate relative to the bearing platform (2), and the jaw rotating assembly (8) is used for being buckled on a sliding key (13) and driving an inner pipe (12) to rotate in a fixed shaft mode; the jaw rotating mechanism further comprises a rotating driving assembly (7) for driving the jaw rotating mechanism to rotate relative to the bearing platform (2), and the rotating driving assembly (7) comprises a connecting end exposed outside the bearing platform (2) and used for being connected with a power output system (93) of the mechanical arm (91).

2. An adapter for a surgical robot as claimed in claim 1, wherein: the jaw opening and closing assembly (6) comprises a connecting platform (61) capable of sliding relative to the bearing platform (2), and two clamping arms (62) rotatably connected with the connecting platform (61), wherein a space for accommodating the action cylinder (18) is formed between the two clamping arms (62); wherein, the clamp arm (62) is provided with a locking elastic piece (64) which is used for driving the two clamp arms (62) to abut against the action cylinder (18);

the opening and closing driving assembly (5) is used for driving the connecting platform (61) to slide relative to the bearing platform (2).

3. An adapter for a surgical robot as claimed in claim 2, wherein: the locking elastic piece (64) is used for driving the two clamping arms (62) to be clamped in the clamping grooves (142) of the ultrasonic scalpel; the quick-release assembly (3) is arranged on the bearing platform (2), the quick-release assembly (3) comprises a jacking device (31) which is connected to the bearing platform (2) in a sliding mode, and a working end which is used for pushing the two clamping arms (62) to slide out of the clamping grooves (142) is arranged on the jacking device (31).

4. An adapter for a surgical robot as claimed in claim 3, wherein: the quick release assembly (3) further comprises a reset elastic piece (33) fixedly connected with the bearing platform (2);

the reset elastic piece (33) is used for pushing the ejector (31) to reset.

5. An adapter for a surgical robot as claimed in claim 1, wherein: the opening and closing driving assembly (5) comprises a lead screw (54) rotatably connected with the bearing platform (2), a lead screw nut (53) in threaded connection with the lead screw (54), and a guide rod (52) fixedly connected with the bearing platform (2), wherein the lead screw nut (53) is sleeved on the guide rod (52), and the jaw opening and closing assembly (6) is fixedly connected with the lead screw nut (53);

one end of the lead screw (54) is exposed out of the bearing platform (2), and the end of the lead screw (54) exposed out of the bearing platform (2) is a connecting end connected with a power output system (93) of the mechanical arm (91).

6. An adapter for a surgical robot as claimed in claim 2, wherein: the jaw rotating assembly (8) is rotatably connected to the connecting platform (61).

7. An adaptor for a surgical robot as claimed in any one of claims 1 to 6, wherein: the jaw rotating assembly (8) comprises a limiting flange joint (82) rotatably connected with the bearing platform (2), the rotating driving assembly (7) is used for driving the limiting flange joint (82) to rotate in a fixed shaft mode, a coaxial sleeve joint hole is formed in the limiting flange joint (82), and at least one clamping structure forming a clamping relation with a sliding key (13) of the ultrasonic scalpel is arranged on the side wall of the sleeve joint hole;

the rotary driving component (7) is used for driving the limiting flange joint (82) to rotate in a fixed axis mode.

8. An adapter for a surgical robot as claimed in claim 7, wherein: the rotary driving assembly (7) comprises a gear set connected to the bearing platform (2), one gear of the gear set is coaxially and fixedly connected with the limiting flange joint (82), a rotating shaft corresponding to the other gear of the gear set is exposed on the bearing platform (2), and one end, exposed on the bearing platform (2), of the rotating shaft is a connecting end used for being connected with a power output system (93) of the mechanical arm (91).

9. An adapter for a surgical robot as claimed in claim 1, wherein: the bearing platform (2) is provided with a tool identification component (9), and the tool identification component (9) comprises a memory for storing information which can be read and/or modified by a robot.

10. An ultrasonic surgical blade system, comprising: the adapter for the surgical robot comprises the adapter for the surgical robot as claimed in any one of claims 1 to 9, and further comprises a mechanical arm (91), wherein the bearing platform (2) is fixedly connected to the mechanical arm (91), and the opening and closing driving assembly (5) and the rotating driving assembly (7) are respectively connected with a power output system (93) of the mechanical arm (91).