CN114521965A - Surgical instrument replacement robot, surgical robot system, and surgical instrument replacement system - Google Patents
Surgical instrument replacement robot, surgical robot system, and surgical instrument replacement system Download PDFInfo
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- CN114521965A CN114521965A CN202011321121.8A CN202011321121A CN114521965A CN 114521965 A CN114521965 A CN 114521965A CN 202011321121 A CN202011321121 A CN 202011321121A CN 114521965 A CN114521965 A CN 114521965A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The invention provides a surgical instrument replacing robot, a surgical robot system and a replacing system, wherein the surgical instrument replacing robot comprises a main body part, an instrument accommodating part, an instrument chuck and a mechanical arm; one end of the mechanical arm is connected with the main body part, the other end of the mechanical arm is connected with the instrument chuck, and the instrument chuck is used for grabbing surgical instruments; the instrument containing part is arranged on the main body part and is used for containing surgical instruments; the mechanical arm is configured to drive the instrument chuck to grab a surgical instrument to be replaced from the instrument receiving part so as to enable the patient-end robot to replace the surgical instrument; and/or driving the instrument chuck to grab the replaced surgical instrument and place the surgical instrument into the instrument accommodating part. So, utilize arm and apparatus chuck can realize snatching and changing surgical instruments, can replace medical personnel to change surgical instruments, alleviate work burden, also improved operation automation level in addition, make the realization of long-range operation more convenient.
Description
Technical Field
The invention relates to the field of robot-assisted surgery systems, in particular to a surgical instrument replacing robot, a surgical robot system and a replacing system.
Background
In recent years, with the application and development of related technologies of robots, especially the development of computing technologies, the role of medical patient-end robots in clinical practice is more and more emphasized by people. The minimally invasive surgery robot system can reduce the physical labor of a doctor in the surgery process in an interventional therapy mode, and meanwhile achieves the purpose of accurate surgery, so that the patient has small wound, less blood loss, less postoperative infection and quick postoperative recovery.
The minimally invasive surgery robot system enables a doctor to observe tissue characteristics in a patient body through a two-dimensional or three-dimensional display device at a main console, and controls mechanical arms and surgical tool instruments on the operation robot in a remote control mode to complete operation. The doctor can accomplish the operation of microtrauma operation with the mode and the sensation the same with traditional operation, has alleviateed the degree of difficulty when doctor carries out microtrauma operation greatly, has also improved the efficiency and the security of operation simultaneously to make the realization of remote operation take place breakthrough's progress.
The development of minimally invasive patient-side robotic devices and systems not only allows physicians to complete surgery with a less invasive, but same viewing angle and operational feel as traditional open surgery. More importantly, the medical instrument enables a doctor to perform an operation at a place far away from a patient, or perform an operation beside the patient in a ward, or remotely control a remote receiving device through an operation input device, so as to complete the operation of the operation.
In telesurgery, the surgeon uses some form of remote control, such as a servo, to manipulate the movement of the surgical instruments, rather than directly holding and moving the instruments. Surgical instruments need to be replaced more frequently in the operation process, the surgical instruments are replaced by assistance of medical workers, the workload of the medical workers is increased, and remote operations are difficult to further and efficiently realize.
Disclosure of Invention
The invention aims to provide a surgical instrument replacing robot, a surgical robot system and a replacing system, which aim to solve the problem that medical staff needs to replace surgical instruments at present.
To solve the above technical problem, according to a first aspect of the present invention, there is provided a surgical instrument replacement robot for replacing a surgical instrument for a patient-end robot, the surgical instrument replacement robot including: the method comprises the following steps: a main body part, an instrument accommodating part, an instrument chuck and a mechanical arm;
one end of the mechanical arm is connected with the main body part, the other end of the mechanical arm is connected with the instrument chuck, and the instrument chuck is used for grabbing surgical instruments;
the instrument containing part is arranged on the main body part and is used for containing surgical instruments;
the robotic arm is configured to drive the instrument collet to grasp a surgical instrument to be replaced from the instrument receiving portion for a patient end robot to replace the surgical instrument; and/or driving the instrument chuck to grab the replaced surgical instrument and place the surgical instrument in the instrument receiving part.
Optionally, the surgical instrument replacing robot further comprises a positioning device, and the positioning device is used for positioning with the patient end robot to determine the relative position relationship between the surgical instrument replacing robot and the patient end robot.
Optionally, the positioning apparatus comprises a first mechanical-electrical interface for mating connection with a second mechanical-electrical interface of the patient-end robot.
Optionally, the positioning device includes a positioning target for scanning and positioning by a first navigation scanner of the patient-end robot; or the positioning target is used for scanning and positioning by an external position scanner so as to determine the relative position of the surgical instrument replacement robot relative to the patient end robot.
Optionally, the positioning device includes a second navigator scanner for scanning an external predetermined feature to determine a relative position of the surgical instrument replacement robot with respect to the predetermined feature, and further determining a relative position of the surgical instrument replacement robot with respect to the patient-end robot by using the relative position of the patient-end robot with respect to the predetermined feature; or the second navigational scanner is to scan the positioning target of the patient-end robot to determine the relative position of the surgical instrument replacement robot with respect to the patient-end robot.
Optionally, the mechanical arm includes at least a first arm, a second arm, a third arm, a fifth arm, a sixth arm and a seventh arm, the first arm is rotatably connected to the main body portion around a first axis, the second arm is rotatably connected to the first arm around a second rotating shaft, the third arm is rotatably connected to the second arm around a third rotating shaft, the fifth arm is rotatably connected to the third arm around a fifth rotating shaft, and the sixth arm is rotatably connected to the seventh arm around a sixth rotating shaft; wherein the second axis is perpendicular to the first axis, the third axis is parallel to the second axis, the fifth axis is parallel to the third axis, and the sixth axis is perpendicular to the fifth axis.
Optionally, the mechanical arm further includes a fourth arm, and the fourth arm is rotatably connected to the third arm around a fourth rotating shaft and rotatably connected to the fifth arm around a fifth rotating shaft; the fifth arm is connected with the third arm through the fourth arm; the fourth axis is coplanar with the first axis and the sixth axis, respectively, and the fifth axis is perpendicular to the fourth axis.
Optionally, the instrument collet is rotatably coupled to the seventh arm about a seventh axis, the seventh axis being perpendicular to the sixth axis.
Optionally, the main body portion includes a column and an adjusting arm, and the adjusting arm is movably connected to the column along an extending direction of the column.
Optionally, the adjusting arm includes a first base plate, a second base plate, or a first base plate, a second base plate, and a third base plate, which are connected in sequence, the first base plate is movably connected to the upright column along the extending direction of the upright column, the second base plate is rotatably connected to the first base plate around an eighth axis, and the third base plate is rotatably connected to the second base plate around a ninth axis; the mechanical arm is rotatably connected with the second base plate or the third base plate, and the eighth axis and the ninth axis are parallel to the extending direction of the upright post.
Optionally, the instrument receiving portion has a plurality of interfaces, each interface having a unique identifier for adapting to a corresponding surgical instrument and for identification of the surgical instrument during a replacement procedure.
Optionally, the identifier is a coded pattern for determining a unique property of the interface, and the surgical instrument replacement robot includes an optical sensor for learning the unique property of the interface by scanning the coded pattern.
Optionally, the instrument receiving portion has two or more regions, each region including a plurality of the interfaces, and different regions are used for adapting to surgical instruments in different use states.
Optionally, the surgical instrument replacing robot further includes a base, two driving wheels and a steering wheel, the base is disposed at the bottom of the main body, the driving wheels and the steering wheel are respectively connected to the bottom of the base, and the two driving wheels are configured to drive the surgical instrument replacing robot to steer through a differential speed.
To solve the above technical problem, according to a second aspect of the present invention, there is also provided a surgical robot system including: a patient-end robot, at least one surgical instrument replacement robot as described above, and a plurality of surgical instruments; at least a part of the plurality of surgical instruments is disposed on an instrument housing portion of the surgical instrument replacement robot, which is used for replacing the surgical instruments for the patient end robot.
In order to solve the above technical problem, according to a third aspect of the present invention, there is also provided a surgical instrument replacement system, including a memory and a processor, wherein the processor stores therein a computer program, and when the processor executes the computer program, the computer program implements:
receiving a surgical instrument replacement instruction;
controlling the mechanical arm to place the surgical instrument to be replaced on the instrument containing part; and/or
And controlling the mechanical arm to grab the surgical instrument to be replaced from the instrument accommodating part.
Optionally, before the robot arm is controlled to place the surgical instrument to be replaced on the instrument receiving portion, the computer program when executed by the processor further implements:
identifying the coordinate position of the robot, calculating a first target coordinate to which the surgical instrument replacing robot needs to move, and controlling the surgical instrument replacing robot to move to the first target coordinate according to a specific direction;
calculating a second target coordinate of the first axis of the mechanical arm, and controlling the mechanical arm to move to the second target coordinate;
and controlling the instrument chuck to move to the installation coordinate of the surgical instrument, and controlling the instrument chuck to grab the surgical instrument to be replaced from the tool arm.
Optionally, after controlling the instrument collet to grasp the surgical instrument to be replaced from the tool arm, the computer program when executed by the processor further implements: and identifying an interface on the instrument containing part, on which a surgical instrument is to be placed, and correspondingly connecting the surgical instrument grabbed by the mechanical arm with the interface.
Optionally, before controlling the robotic arm to grasp a surgical instrument to be replaced from the instrument receptacle, the computer program when executed by the processor further implements: and identifying an interface corresponding to a surgical instrument to be replaced on the instrument containing part, and correspondingly connecting the mechanical arm with the interface.
Optionally, the unique attribute of the interface is obtained by scanning the code pattern of the interface of the instrument receiving portion, and the identification of the interface on the instrument receiving portion is completed.
In summary, in the surgical instrument replacement robot, the surgical robot system, and the surgical instrument replacement system according to the present invention, the surgical instrument replacement robot includes a main body portion, an instrument housing portion, an instrument chuck, and a robot arm; one end of the mechanical arm is connected with the main body part, the other end of the mechanical arm is connected with the instrument chuck, and the instrument chuck is used for grabbing surgical instruments; the instrument containing part is arranged on the main body part and is used for containing surgical instruments; the mechanical arm is configured to drive the instrument chuck to grab a surgical instrument to be replaced from the instrument receiving part so as to enable the patient-end robot to replace the surgical instrument; and/or driving the instrument chuck to grab the replaced surgical instrument and place the surgical instrument in the instrument receiving part.
So the configuration utilizes arm and apparatus chuck can realize snatching and changing surgical instruments, can replace medical personnel to change surgical instruments, has alleviateed medical personnel's work burden, and on the other hand has also improved the automatic level of operation, makes the realization of long-range operation become more convenient and high-efficient.
Drawings
It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:
FIG. 1 is a schematic view of a surgical robotic system provided in accordance with an embodiment of the present invention;
FIG. 2 is a diagrammatic view of a surgical instrument exchange robot provided in accordance with an embodiment of the present invention;
FIG. 3 is a diagrammatic view of a surgical instrument exchange robot in combination with a patient-end robot as provided by an embodiment of the present invention;
FIG. 4 is a diagrammatic view of a surgical instrument exchange robot provided in accordance with an embodiment of the present invention in use separate from a patient-end robot;
FIG. 5 is a schematic illustration of two surgical instrument exchange robots used in combination with a patient-end robot, in accordance with an embodiment of the present invention;
FIG. 6 is a schematic illustration of two surgical instrument exchange robots used separately from a patient-end robot, in accordance with an embodiment of the present invention;
FIGS. 7A, 7B, and 7C are schematic views of an adjusting arm in different adjusting states according to an embodiment of the present invention;
FIG. 8 is a simplified diagram of the freedom of movement of the adjustment arm provided by one embodiment of the present invention;
FIG. 9 is a schematic view of an instrument receiving portion provided in accordance with an embodiment of the present invention;
fig. 10 is a bottom view of a surgical instrument exchange robot provided in accordance with an embodiment of the present invention;
FIG. 11 is a schematic view of a robotic arm provided in accordance with an embodiment of the present invention;
FIG. 12 is a diagrammatic illustration of the degree of freedom of movement of a robotic arm provided in accordance with an embodiment of the present invention;
FIG. 13a is a schematic view of a surgical instrument provided in accordance with an embodiment of the present invention;
FIG. 13b is an enlarged view of section A of FIG. 13 a;
figure 13c is a schematic illustration of the connection of an instrument collet to an instrument grasping interface according to an embodiment of the present invention;
FIG. 13d is a schematic view of another angle of FIG. 13 c;
FIG. 14a is a schematic diagram of the principles of position navigation provided by one embodiment of the present invention;
fig. 14b is a schematic view of another angle of fig. 14 a.
In the drawings:
1-a patient-end robot; 11-upright post; 12-a support mechanism; 13-a tool arm; 14-a surgical instrument; 141-instrument grasping interface; 1411-protruding shaft; 101-a patient bed; 102-a first navigator scanner; 103-locating the target; 106-physician console; 107-main manipulator; 108-an endoscope; 109-a second navigator scanner; 1001-first mechanical electrical interface; 1002-a second mechanical-electrical interface; 5-surgical instrument replacement robot; 51-a body portion; 5102-driving wheel; 5103-a drive module; 5104-upright column; 5105-a first base plate; 5106-a second base plate; 5107-a third base plate; 5108-steering wheel; 52-an instrument receptacle; 521-instrument receiving slot; 53-an instrument cartridge; 531-concave hole; 54-a robotic arm; 5401-first arm; 5402-second arm; 5403-third arm; 5404-fourth arm; 5405-fifth arm; 5406-sixth arm; 5407-seventh arm; 5408-camera; 55-a base; 6-wall ceiling; 61-ceiling specific image identification; 71-first axis.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, the term "proximal" is usually the end near the operator, the term "distal" is usually the end near the operated object, the terms "end" and "other end" and "proximal" and "distal" are usually corresponding two parts, which include not only end points, but also the terms "mounting", "connecting" and "connecting", which are to be understood in a broad sense, for example, may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention mainly aims to provide a surgical instrument replacing robot and a surgical robot system, which aim to solve the problem that medical staff needs to replace surgical instruments at present.
The following description refers to the accompanying drawings.
Referring to fig. 1 to 14b, fig. 1 is a schematic view of a surgical robot system according to an embodiment of the present invention; FIG. 2 is a diagrammatic view of a surgical instrument exchange robot provided in accordance with an embodiment of the present invention; FIG. 3 is a diagrammatic view of a surgical instrument exchange robot in combination with a patient-end robot as provided by an embodiment of the present invention; FIG. 4 is a diagrammatic view of a surgical instrument exchange robot provided in accordance with an embodiment of the present invention in use separate from a patient-end robot; FIG. 5 is a schematic illustration of two surgical instrument exchange robots used in combination with a patient-end robot, in accordance with an embodiment of the present invention; FIG. 6 is a schematic illustration of two surgical instrument exchange robots used separately from a patient-end robot, in accordance with an embodiment of the present invention; FIGS. 7A, 7B and 7C are schematic views illustrating different states of an adjusting arm according to an embodiment of the invention; FIG. 8 is a simplified diagram of the freedom of movement of the adjustment arm provided by one embodiment of the present invention; FIG. 9 is a schematic view of an instrument holder provided in accordance with an embodiment of the present invention; fig. 10 is a bottom view of a surgical instrument exchange robot provided in accordance with an embodiment of the present invention; FIG. 11 is a schematic view of a robotic arm provided in accordance with an embodiment of the present invention; FIG. 12 is a diagrammatic illustration of the degree of freedom of movement of a robotic arm provided in accordance with an embodiment of the present invention; FIG. 13a is a schematic view of a surgical instrument provided in accordance with an embodiment of the present invention; FIG. 13b is an enlarged view of section A of FIG. 13 a; figure 13c is a schematic illustration of the connection of an instrument collet to an instrument grasping interface according to an embodiment of the present invention; FIG. 13d is a schematic view of another angle of FIG. 13 c; FIG. 14a is a schematic diagram of the principles of position navigation provided by one embodiment of the present invention; fig. 14b is a schematic view of another angle of fig. 14 a.
Fig. 1 illustrates a surgical robot system and a surgical application scenario thereof, and in an exemplary embodiment, the surgical robot system includes an execution end and a control end. The control end comprises a doctor console 106 and a main operating hand 107 movably arranged on the doctor console 106. With further reference to fig. 2 and 3, the execution end includes a patient-end robot 1, a surgical instrument replacement robot 5, and a surgical instrument 14, the patient-end robot 1 includes a column 11, a support mechanism 12, and a tool arm 13, and the surgical instrument 14 is mounted on the tool arm 13. The main operation principle of the surgical robot system is as follows: the doctor realizes the minimally invasive surgery treatment on the patient on the sickbed 101 through the remote operation of the doctor console 106 and the main manipulator 107. The main manipulator 107, the tool arm 13 and the surgical instrument 14 form a master-slave control relationship. Specifically, the tool arm 13 and the surgical instrument 14 move according to the movement of the main operating hand 107 during the surgical operation, i.e., the main operating hand 107 is operated by the doctor's hand to move accordingly. Further, the main operating hand 107 receives the information of the acting force of the human tissue and organ on the surgical instrument and feeds the information back to the hand of the doctor, so that the doctor can feel the surgical operation more intuitively. The end of the tool arm 13 is used for mounting or connecting a surgical instrument 14, so that the surgical instrument 14 can rotate around a fixed point; the support mechanism 12 may be rotatably coupled to a plurality of tool arms 13 for adjusting the spatial position of the fixed point, and in some embodiments, the plurality of support structures 12 are rotatably coupled to the plurality of tool arms, respectively; the upright 11 is connected to the support mechanism 12 for determining the spatial position of the support mechanism 12 and the tool arm 13.
Further, the patient-end robot 1 further includes a scope holding arm for mounting the endoscope 108. The endoscope 108 is used for acquiring surgical environment information such as human tissue and organs, the surgical instruments 14, blood vessels, body fluids and the like. The control end also includes a display device 200 for receiving images captured by the endoscope 108. The operator controls the movement of the tool arm 13 and the surgical instrument 14 by the main manipulator 107 based on the image displayed on the display device 200. The endoscope 108 and the surgical device 14 are each passed through a wound in the patient's body into the patient's site.
In use, a part of the surgical instrument 14 is set in the instrument housing 52 of the surgical instrument replacement robot 5, a part of the surgical instrument 14 is set in the patient-end robot 1, and the surgical instrument replacement robot 5 is used to replace the surgical instrument 14 for the patient-end robot 1.
Based on the surgical robot system, the present embodiment further provides a surgical instrument replacing robot 5, please refer to fig. 2, where the surgical instrument replacing robot 5 specifically includes: a main body 51, an instrument housing 52, an instrument cartridge 53, and a robot arm 54; the main body 51 is in a vertically extending cylindrical configuration, and preferably, the surgical instrument replacement robot 5 further includes a base 55, the base 55 is disposed at the bottom of the main body 51, one end of the mechanical arm 54 is connected to the main body 51, the other end is connected to the instrument chuck 53, and the instrument chuck 53 is used for grasping the surgical instrument 14; one end of the instrument receiving portion 52 is disposed on the main body portion 51 and extends outward from the main body portion 51 in the radial direction, for placing or fixing the surgical instrument 14. The mechanical arm 54 is configured to drive the instrument collet 53 to grasp the surgical instrument 14 to be replaced from the instrument receiving portion 52, so that the patient-end robot 1 can replace the surgical instrument 14; and/or driving the instrument chuck 53 to grasp the replaced surgical instrument 14 and place the surgical instrument 14 in the instrument receiving portion 52. Preferably, referring to fig. 2, fig. 13a and fig. 13b in combination, the instrument receiving portion 52 is configured to receive a plurality of surgical instruments 14 with different functions, each surgical instrument 14 is provided with an instrument grasping interface 141, the instrument gripping head 53 is configured to identify and grasp the instrument grasping interface 141 on the surgical instrument 14 to achieve reliable grasping of the surgical instrument 14, and in particular, the instrument grasping interface 141 generally has a special pattern of direction marks or grasping guide positioning features, etc. so that the robot arm 54 can identify different surgical instruments 14 and can grasp a desired surgical instrument 14 accurately. In one example, the instrument grasping interface 141 and the corresponding robotic arm 54 have uniquely oriented grasping guide positioning features, such as non-centrally symmetrically disposed multiple hole axes or non-centrally symmetrically shaped holes, that each enable uniquely oriented matching with the robotic arm 54. Referring to fig. 13b to 13d, the instrument grasping interface 141 has a plurality of convex axes 1411 that are not centrosymmetric, and correspondingly, the instrument collet 53 on the robot arm 54 has a plurality of concave holes 531 that are matched with the instrument grasping interface 141, and the instrument collet 53 can be matched with the unique orientation of the instrument grasping interface 141 through the hole axes. In other embodiments, the instrument grasping interface 141 and the corresponding robotic arm 54 may also use a special pattern of directional identifiers to match the unique orientation, such as directional arrow pattern identifiers of the instrument grasping interface 141, and the robotic arm 54 determines that the robotic arm 54 matches the unique orientation of the instrument grasping interface 141 by scanning and recognizing with an optical sensor.
The use of the surgical instrument replacement robot 5 can improve the convenience of use of the surgical robot, and replacement of the surgical instrument 14 can be completed without additional medical workers.
Optionally, the surgical instrument replacing robot 5 further includes a positioning device for positioning with the patient-end robot 1 to determine a relative positional relationship between the surgical instrument replacing robot 5 and the patient-end robot 1. In practice, the surgical instrument replacement robot 5 may be used in combination with the patient-side robot 1 or may be used separately from the patient-side robot 1. The surgical instrument replacement robot 5 determines a relative positional relationship with the patient-end robot 1 by a positioning device. In some embodiments, the surgical instrument replacement robot 5 is used in combination with the patient-end robot 1, and the two can determine the relative position relationship by means of mechanical positioning; in other embodiments, it is more preferable that the surgical instrument replacement robot 5 and the patient-end robot 1 determine the relative positional relationship by wireless positioning.
Referring to fig. 3 and 4, in a standby state, the patient-side robot 1 and the surgical instrument replacement robot 5 may be combined into a same carrying and transporting module, and the surgical instrument replacement robot 5 is in communication connection with the patient-side robot 1 in a wireless positioning manner, so as to ensure the flexibility of the movement thereof and not be constrained by cables. In the process of the patient-end robot 1 performing the surgery, the surgical instrument replacing robot 5 can be separated from the patient-end robot 1 to help the patient-end robot 1 to replace the surgical instrument 14, and after the surgery is completed, the surgical instrument replacing robot 5 can be recombined with the patient-end robot 1 to facilitate the movement of the patient-end robot and the patient-end robot relative to the position of the hospital bed 101. Of course, in other embodiments, the surgical instrument replacement robot 5 may also continue to maintain the connection with the patient-end robot 1 without departing from the patient-end robot 1 during the course of the patient-end robot 1 performing the surgery. The replacement of the surgical instrument 14 is effected by the movement of the robot arm 54 of the surgical instrument replacement robot 5 and the cooperation of the tool arm 13 in the patient-end robot 1. In other embodiments, the surgical instrument replacement robot 5 may also be kept in a separated relationship with the patient-side robot 1 all the time, and only the information interaction connection between the two is realized in a wireless manner.
Referring to fig. 4, optionally, the positioning device of the surgical instrument replacement robot 5 is disposed on the base 55 and includes a first mechanical-electrical interface 1001, and the patient-end robot 1 includes a second mechanical-electrical interface 1002, and the first mechanical-electrical interface 1001 is adapted to be connected to the second mechanical-electrical interface 1002 of the patient-end robot 1. In an exemplary embodiment, the first mechanical-electrical interface 1001 is a recess provided on the base 55 of the surgical instrument exchange robot 5, and the second mechanical-electrical interface 1002 is a male plug provided on the patient-side robot 1, the male plug having a shape adapted to the recess of the first mechanical-electrical interface 1001, and the male plug is inserted into the recess in actual use, so that the surgical instrument exchange robot 5 is connected to and positioned in the patient-side robot 1. Further, the first mechanical-electrical interface 1001 and the second mechanical-electrical interface 1002 can be electrically connected at the same time, and the surgical instrument replacement robot 5 can be charged by the connection of the first mechanical-electrical interface 1001 and the second mechanical-electrical interface 1002 to supplement energy and/or transmit information. It will be appreciated that in other embodiments, the recess may be provided on the patient-end robot 1 and the male plug may be provided on the base 55 of the surgical instrument replacement robot 5.
As shown in fig. 5 and 6, one patient-side robot 1 may be used in combination with one or more surgical instrument replacement robots 5, and specifically, in use, two surgical instrument replacement robots 5 may be used simultaneously to assist the replacement operation of surgical instruments 14, on one hand, two surgical instrument replacement robots 5 may be operated simultaneously, which improves the efficiency of the replacement operation, and on the other hand, even when one surgical instrument replacement robot 5 fails, another surgical instrument replacement robot 5 may still ensure that surgical instruments 14 may be replaced in time, which improves the reliability of the surgical robot system.
In one embodiment, the positioning device of the surgical instrument replacement robot 5 is disposed on the main body 51 and includes a positioning target 103, the patient-side robot 1 includes a first navigator scanner 102, and the positioning target 103 is used for scanning and positioning the first navigator scanner 102 (as shown in fig. 14 a) of the patient-side robot 1. Specifically, the first navigator scanner 102 is an indoor navigator scanner, and can determine the position of the surgical instrument replacement robot 5 by scanning the positioning target 103, so as to avoid collision between the mechanical arm 54 of the surgical instrument replacement robot 5 and the patient-end robot 1 through motion space trajectory planning. In practice, those skilled in the art can configure the first navigator scanner 102 and the positioning target 103 to utilize various indoor positioning technologies such as AGPS, infrared, ultrasonic, UWB, WaveLAN, RFID, optical vision, etc., according to practical applications, and the description of the embodiment will not be repeated herein.
Referring to fig. 14a and 14b, in another preferred embodiment, the positioning device comprises a second navigation scanner 109, and the second navigation scanner 109 is used for scanning an external predetermined feature to determine the relative position of the surgical instrument replacement robot 5 with respect to the predetermined feature, and further, the relative position of the surgical instrument replacement robot 5 with respect to the patient-end robot 1 is determined by using the relative position of the patient-end robot 1 with respect to the predetermined feature.
Specifically, the first navigation scanner 102 is mounted on the patient-side robot 1, the second navigation scanner 109 is mounted on the surgical instrument replacement robot 5, the corresponding ceiling-specific image markers 61 are created on the operating room wall ceiling 6 as predetermined features, and the relative position coordinates and the motion direction vectors of the surgical instrument replacement robot 5 and the patient-side robot 1 are solved in real time by the predetermined features. The ceiling specific image identifier 61 may be a sticker printed with a two-dimensional code, and functions to facilitate establishment of a fixed coordinate system, so that the surgical instrument replacement robot 5 and the patient-side robot 1 determine respective coordinates with respect to the fixed coordinate system, thereby achieving indoor coordinate positioning. In a further alternative embodiment, the patient-end robot 1 is provided with a positioning target, and the second navigation scanner 109 of the surgical instrument replacement robot 5 is used to scan the positioning target of the patient-end robot 1 to determine the relative position of the surgical instrument replacement robot 5 with respect to the patient-end robot 1.
It should be noted that a position scanner may be installed on the wall ceiling 6, and meanwhile, positioning targets are respectively installed on the patient-end robot 1 and the surgical instrument replacement robot 5, so that the effect of solving the relative position coordinates and motion direction vectors of the patient-end robot 1 and the surgical instrument replacement robot 5 may also be achieved. Specifically, a position scanner (e.g., NDI binocular scanner) may be installed at a fixed position in a room, that is, the position scanner may scan a positioning target on the patient-end robot 1 to obtain a first relative position coordinate system of the patient-end robot 1, the position scanner may scan a positioning target on the surgical instrument replacement robot 5 to obtain a second relative position coordinate system of the surgical instrument replacement robot 5, and the relative position of the surgical instrument replacement robot 5 with respect to the patient-end robot 1 may be determined through coordinate transformation of the first relative position coordinate system and the second relative position coordinate system.
Referring to fig. 10 in combination with fig. 4, optionally, the surgical instrument replacement robot 5 further includes two driving wheels 5102 and a rudder wheel 5108, the driving wheels 5102 and the rudder wheel 5108 are respectively connected to the bottom of the base 51, and the two driving wheels 5102 are configured to steer the surgical instrument replacement robot 5 through differential driving.
Preferably, the surgical instrument replacing robot 5 further comprises two driving modules 5103 symmetrically arranged left and right below the base 51, the two driving modules 5103 are respectively coupled with the two driving wheels 5102 and used for providing power for the driving wheels 5102, and the two driving wheels 5102 move under the driving of the driving modules 5103 so as to drive the surgical instrument replacing robot 5 to move forwards and backwards and turn. The steering wheel 5108 is a non-powered universal wheel for stably supporting the base 51.
Referring to fig. 7a to 8, further, the main body 51 comprises a pillar 5104 and an adjusting arm movably connected to the pillar 5104 along the extending direction of the pillar 5104. Preferably, the adjusting arm comprises a first base plate 5105, a second base plate 5106 and a third base plate 5107 which are connected in sequence, the first base plate 5105 is movably connected with the upright 5104 along the extending direction of the upright 5104, the second base plate 5106 is rotatably connected with the first base plate 5105 around an eighth axis, and the third base plate 5107 is rotatably connected with the second base plate 5106 around a ninth axis; the robot arm 54 is rotatably connected to the third base plate 5107, and the eighth axis and the ninth axis are defined as being parallel to the extending direction of the upright 5104, i.e., are defined as being parallel to the vertical direction. In an exemplary embodiment, the pillar 5104 extends in a vertical direction, and the first base plate 5105 is vertically movably disposed on the pillar 5104 by a linear slide rail. The first base plate 5105, the second base plate 5106, and the third base plate 5107 may increase the degree of freedom and the movement range of the surgical instrument replacement robot 5, and prevent the robot arm 54 from being restricted in working space due to an insufficient movement position of the surgical instrument replacement robot 5, so that the robot arm 54 has a better operation starting point.
Referring to fig. 9, optionally, an instrument receptacle 52 (which may also be defined as an instrument tray) is mounted on a post 5104. The instrument housing section 52 may be fixedly attached to the column 5104, or may be vertically movable with respect to the column 5104. The instrument receiving portion 52 has a plurality of interfaces, each interface being adapted to a corresponding surgical instrument 14 for effecting engagement between the instrument receiving portion 52 and the surgical instrument 14. Each interface has a unique identifier for mating with a corresponding surgical instrument 14 and for identification of the surgical instrument 14 during the replacement process so that the surgical instrument replacement robot 5 can identify and access the corresponding surgical instrument 14. The present embodiment is not particularly limited in the type of identifier, and may be an electric signal, a magnetic signal, an infrared signal, an image signal, a graphic signal, or the like. In one example, the identifier may be a code pattern, such as a two-dimensional code pattern, etc., for determining a unique property thereof, and the surgical instrument replacement robot 5 has an optical sensor, which can know the unique property of the interface of the instrument housing 52 by scanning the code pattern (e.g., by scanning, it can know the number of interfaces on the instrument housing 52), so as to determine to access the corresponding surgical instrument 14.
Preferably, the support mechanism 12 or the tool arm 13 of the patient-end robot 1 may also have an identifier, such as a two-dimensional code pattern or the like, for determining its own unique properties, and the surgical instrument replacement robot 5 may have an optical sensor, which may obtain the unique properties of the support mechanism 12 or the tool arm 13 by scanning the code pattern, so that the surgical instrument replacement robot 5 may locate the tool arm 13 with the surgical instrument 14 installed. In a specific example, when the surgical instrument replacing robot 5 receives an instruction to replace a surgical instrument 14 on a certain tool arm 13, the surgical instrument replacing robot 5 recognizes the tool arm 13 of the surgical instrument 14 to be replaced by using its optical sensor, then approaches the specified tool arm 13, and grasps the surgical instrument 14 on the specified tool arm 13 by using the instrument chuck 53 on the robot arm 54, thereby completing the replacement work of the specified surgical instrument 14. Of course, in other embodiments, the identifier may be set on the surgical instrument 14 instead of setting the identifier on the instrument storage 52 and the support mechanism 12 or the tool arm 13 of the patient-end robot 1, and thus the surgical instrument replacement robot 5 may also determine the surgical instrument 14 to be replaced.
Further, in order to achieve isolation between used and unused instruments, the instrument receiving portion 52 has two or more regions, each of which includes a plurality of the interfaces, and different regions are used for adapting to surgical instruments in different use states (e.g., distinguishing used instruments from unused instruments). Each zone may be further partitioned according to the type of instrument to facilitate access and management of the surgical instruments 14. In one example, the instrument receiving portion 52 is substantially in the shape of a fan, a disk, and has a plurality of instrument receiving notches 521 at the edge thereof for receiving a plurality of surgical instruments 14. The instrument receiving notch 521 has a diameter slightly larger than that of the instrument rod of the surgical instrument 14, and when the surgical instrument 14 is placed, the instrument rod of the surgical instrument 14 passes through the instrument receiving notch 521, and the instrument box of the surgical instrument 14 is in contact with the upper end surface of the instrument receiving portion 52.
In an alternative embodiment, as shown in fig. 11, the robot arm 54 of the surgical instrument replacement robot 5 includes at least a first arm 5401, a second arm 5402, a third arm 5403, a fifth arm 5405, a sixth arm 5406, and a seventh arm 5407, the first arm 5401 is rotatably connected to the body portion 51 (e.g., to the third base plate 5107) about a first axis, the second arm 5402 is rotatably connected to the first arm 5401 about a second rotation axis, the third arm 5403 is rotatably connected to the second arm 5402 about a third rotation axis, the fifth arm 5405 is rotatably connected to the third arm 5403 about a fifth rotation axis, and the sixth arm 5406 is rotatably connected to the seventh arm 5407 about a sixth rotation axis; wherein the second axis is perpendicular to the first axis, the third axis is parallel to the second axis, the fifth axis is parallel to the third axis, and the sixth axis is perpendicular to the fifth axis. Further, referring to fig. 7, the first axis 71 of the robot arm 54 is parallel to the extending direction of the pillar 5104. So configured, the robotic arm 54 is a spatial configuration with 6 degrees of freedom, enabling movement in various directions.
In other embodiments, the mechanical arm 54 further comprises a fourth arm 5404, the fourth arm 5404 is rotatably connected to the third arm 5403 about a fourth rotation axis, and is rotatably connected to the fifth arm 5405 about a fifth rotation axis; the fifth arm 5405 is connected to the third arm 5403 via the fourth arm 5404; the fourth axis is coplanar with the first axis and the sixth axis, respectively, and the fifth axis is perpendicular to the fourth axis. With the configuration, the mechanical arm 54 has a spatial configuration with 7 degrees of freedom, can realize movement in various directions, and has certain redundant degrees of freedom and high movement flexibility.
Further, the instrument collet 53 is rotatably coupled to the seventh arm 5407 about a seventh axis that is perpendicular to the sixth axis. Furthermore, the robot arm 54 further includes a camera 5408 fixedly installed opposite to the instrument collet 53, and the camera 5408 can be used to accurately identify the characteristics of the instrument grasping interface 141 on the surgical instrument 14, so as to improve the pose accuracy of the instrument collet 53, and ensure that the instrument collet 53 moves to an accurate position to grasp or install the surgical instrument 14.
The following describes a process for replacing the surgical instrument 14 by using the surgical instrument replacing robot 5, firstly, an operator issues an instruction for replacing the surgical instrument 14 on a certain tool arm 13 of the patient-end robot 1, the instruction is simultaneously transmitted to the surgical instrument replacing robot 5, preferably, the surgical instrument 14 is reset to zero, the tool arm 13 drives the surgical instrument 14 to exit from the body, then the surgical instrument replacing robot 5 recognizes the coordinate position of the surgical instrument replacing robot 5 by the positioning device, comprehensively considers the working space of the mechanical arm 54, calculates the optimal first target coordinate to which the surgical instrument replacing robot 5 needs to move and the direction of the surgical instrument replacing robot 5, and moves to the first target coordinate according to a specific direction; further calculating an optimal second target coordinate of the first axis 71 of the robot 54, and controlling the robot 54 to move to the second target coordinate; then, the instrument collet 53 is controlled to move to the vicinity of the installation coordinates of the surgical instrument 14, the surgical instrument 14 to be replaced on the tool arm 13 of the patient-end robot 1 is precisely positioned and grasped in cooperation with the camera 5408 on the robot arm 54, and the removed surgical instrument 14 is placed at the corresponding position on the instrument storage section 52, the desired surgical instrument 14 on the grasping instrument storage section 52 is replaced, and the surgical instrument 14 is installed on the predetermined tool arm 13. This completes the step of replacing the surgical instrument 14 with the surgical instrument replacement robot 5 for the patient-end robot 1. In another embodiment, after the operator issues the instruction to replace the surgical instrument 14, the surgical instrument replacing robot 5 automatically moves to the position where the surgical instrument 14 needs to be replaced, and after the position is reached, the tool arm 13 of the patient-end robot 1 automatically places the surgical instrument 14 to be replaced in an area for placing the used instrument on the instrument storage 52, and then grasps the surgical instrument 14 for placing the area for placing the usable instrument on the instrument storage 52 according to the guidance of the camera 5408, so that the robot arm 54 does not need to be provided on the surgical instrument replacing robot 5, and the replacing process is simpler.
Preferably, the surgical robot system includes a patient-end robot 1, at least one surgical instrument replacement robot 5 as described above, and a plurality of surgical instruments 14, at least a part of the plurality of surgical instruments 14 being disposed on an instrument housing portion 52 of the surgical instrument replacement robot 5, the surgical instrument replacement robot 5 being configured to replace the surgical instruments 14 for the patient-end robot 1.
Based on the surgical robot system, the present embodiment further provides a surgical instrument replacement system, which includes a memory and a processor, where the processor stores a computer program, and the computer program, when executed by the processor, implements:
receiving a surgical instrument replacement instruction;
the control robot arm 54 places the surgical instrument 14 to be replaced on the instrument housing portion 52; and/or
The robot arm 54 is controlled to grasp the surgical instrument 14 to be replaced from the instrument housing portion 52.
Optionally, before controlling the robotic arm 54 to place the surgical instrument 14 to be replaced on the instrument receptacle 52, the computer program when executed by the processor further implements: identifying the coordinate position of the robot, calculating a first target coordinate to which the surgical instrument replacing robot 5 needs to move, and controlling the surgical instrument replacing robot 5 to move to the first target coordinate according to a specific direction; calculating a second target coordinate of the first axis 71 of the robot 54 and controlling the robot 54 to move to the second target coordinate; controls the movement of the instrument collet 53 to the mounting coordinates of the surgical instrument 14 and controls the instrument collet 53 to grasp the surgical instrument 14 to be replaced from the tool arm 13.
Further, after the instrument collet 53 has grasped the surgical instrument 14 to be replaced from the tool arm 13, the computer program when executed by the processor further effects: the interface of the surgical instrument 14 to be placed on the instrument receiving portion 52 is identified, and the surgical instrument 14 grasped by the robot arm 54 is connected to the interface correspondingly.
Optionally, before controlling the robotic arm 53 to grasp the surgical instrument 14 to be replaced from the instrument storage 52, the computer program when executed by the processor further implements: the interface corresponding to the surgical instrument 14 to be replaced on the instrument housing portion 52 is identified, and the robot arm 54 is connected to the interface.
Preferably, in the process of identifying the interface on the instrument receiving portion 52 where the surgical instrument 14 is to be placed and identifying the interface corresponding to the surgical instrument 14 to be replaced on the instrument receiving portion 52, the unique attribute of the interface can be known by scanning the code pattern of the interface of the instrument receiving portion 52, so as to complete the identification of the interface on the instrument receiving portion 52, which is specifically referred to above.
In summary, in the surgical instrument replacement robot, the surgical robot system, and the surgical instrument replacement system according to the present invention, the surgical instrument replacement robot includes a main body portion, an instrument housing portion, an instrument chuck, and a robot arm; one end of the mechanical arm is connected with the main body part, the other end of the mechanical arm is connected with the instrument chuck, and the instrument chuck is used for grabbing surgical instruments; the instrument containing part is arranged on the main body part and used for containing surgical instruments. The mechanical arm is configured to drive the instrument chuck to grab a surgical instrument to be replaced from the instrument receiving part so as to enable the patient-end robot to replace the surgical instrument; and/or driving the instrument chuck to grab the replaced surgical instrument and place the surgical instrument into the instrument accommodating part. So the configuration utilizes arm and apparatus chuck can realize snatching and changing surgical instruments, can replace medical personnel to change surgical instruments, has alleviateed medical personnel's work burden, and on the other hand has also improved the automation level of operation, makes the realization of long-range operation become more convenient and high-efficient.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (20)
1. A surgical instrument replacement robot for replacing a surgical instrument for a patient-end robot, comprising: the mechanical arm comprises a main body part, an instrument accommodating part, an instrument chuck and a mechanical arm;
one end of the mechanical arm is connected with the main body part, the other end of the mechanical arm is connected with the instrument chuck, and the instrument chuck is used for grabbing surgical instruments;
the instrument accommodating part is arranged on the main body part and is used for accommodating surgical instruments;
the mechanical arm is configured to drive the instrument chuck to grab a surgical instrument to be replaced from the instrument receiving part so as to enable the patient-end robot to replace the surgical instrument; and/or driving the instrument chuck to grab the replaced surgical instrument and place the surgical instrument in the instrument receiving part.
2. A surgical instrument changing robot according to claim 1, further comprising a positioning device for positioning with the patient end robot to determine a relative positional relationship between the surgical instrument changing robot and the patient end robot.
3. A surgical instrument exchange robot according to claim 2, wherein the positioning device comprises a first mechanical electrical interface for mating connection with a second mechanical electrical interface of the patient-end robot.
4. The surgical instrument exchange robot of claim 2, wherein the positioning device includes a positioning target for scanning positioning by a first navigation scanner of the patient-end robot; or the positioning target is used for scanning and positioning by an external position scanner so as to determine the relative position of the surgical instrument replacement robot relative to the patient end robot.
5. A surgical instrument replacement robot according to claim 2, wherein the positioning device includes a second navigational scanner for scanning an external predetermined feature to determine a relative position of the surgical instrument replacement robot with respect to the predetermined feature, and further wherein the relative position of the surgical instrument replacement robot with respect to the patient-end robot is determined using the relative position of the patient-end robot with respect to the predetermined feature; or the second navigational scanner is to scan the positioning target of the patient-end robot to determine the relative position of the surgical instrument replacement robot with respect to the patient-end robot.
6. A surgical instrument replacement robot according to claim 1, wherein the robotic arm includes at least a first arm, a second arm, a third arm, a fifth arm, a sixth arm, and a seventh arm, the first arm being rotatably connected to the body portion about a first axis, the second arm being rotatably connected to the first arm about a second axis, the third arm being rotatably connected to the second arm about a third axis, the fifth arm being rotatably connected to the third arm about a fifth axis, and the sixth arm being rotatably connected to the seventh arm about a sixth axis; wherein the second axis is perpendicular to the first axis, the third axis is parallel to the second axis, the fifth axis is parallel to the third axis, and the sixth axis is perpendicular to the fifth axis.
7. The surgical instrument exchange robot of claim 6, wherein the robotic arm further includes a fourth arm rotatably connected to the third arm about a fourth axis of rotation and rotatably connected to the fifth arm about a fifth axis of rotation; the fifth arm is connected with the third arm through the fourth arm; the fourth axis is coplanar with the first axis and the sixth axis, respectively, and the fifth axis is perpendicular to the fourth axis.
8. A surgical instrument replacement robot as recited in claim 6, wherein the instrument collet is rotatably coupled to the seventh arm about a seventh axis, the seventh axis being perpendicular to the sixth axis.
9. The surgical instrument replacement robot of claim 1, wherein the body portion includes a post and an adjustment arm movably connected to the post along an extension direction of the post.
10. A surgical instrument replacement robot according to claim 9, wherein the adjustment arm includes a first base plate, a second base plate, or a first base plate, a second base plate, and a third base plate connected in this order, the first base plate being movably connected to the column in the extending direction of the column, the second base plate being rotatably connected to the first base plate about an eighth axis, and the third base plate being rotatably connected to the second base plate about a ninth axis; the mechanical arm is rotatably connected with the second base plate or the third base plate, and the eighth axis and the ninth axis are parallel to the extending direction of the upright post.
11. A surgical instrument exchange robot according to claim 1, wherein the instrument receiving portion has a plurality of interfaces, each interface having a unique identifier for fitting with a corresponding surgical instrument and for identification of the surgical instrument during a replacement procedure.
12. The surgical instrument replacement robot of claim 11, wherein the identifier is a coded pattern for determining a unique property of the interface, the surgical instrument replacement robot comprising an optical sensor for learning the unique property of the interface by scanning the coded pattern.
13. A surgical instrument exchange robot according to claim 11, wherein the instrument receiving portion has two or more regions, each region including a plurality of the interfaces, different regions being for accommodating surgical instruments in different use states.
14. The instrument changing robot according to claim 1, further comprising a base provided at a bottom of the body, two driving wheels and one steering wheel, the driving wheels and the steering wheel being respectively connected to the bottom of the base, the two driving wheels being configured to steer the instrument changing robot by a differential driving.
15. A surgical robotic system comprising a patient-end robot, at least one surgical instrument replacement robot according to any one of claims 1 to 14, and a plurality of surgical instruments; at least a part of the plurality of surgical instruments is disposed on an instrument housing portion of the surgical instrument replacement robot, which is used for replacing the surgical instruments for the patient end robot.
16. A surgical instrument exchange system comprising a memory and a processor, the processor having stored thereon a computer program that, when executed by the processor, implements:
receiving a surgical instrument replacement instruction;
controlling the mechanical arm to place the surgical instrument to be replaced on the instrument containing part; and/or
And controlling the mechanical arm to grab the surgical instrument to be replaced from the instrument accommodating part.
17. A surgical instrument replacement system according to claim 16, wherein prior to controlling the robotic arm to place the surgical instrument to be replaced on the instrument receptacle, the computer program when executed by the processor further effects:
identifying the coordinate position of the robot, calculating a first target coordinate to which the surgical instrument replacing robot needs to move, and controlling the surgical instrument replacing robot to move to the first target coordinate according to a specific direction;
calculating a second target coordinate of the first axis of the mechanical arm, and controlling the mechanical arm to move to the second target coordinate;
and controlling the instrument chuck to move to the installation coordinate of the surgical instrument, and controlling the instrument chuck to grab the surgical instrument to be replaced from the tool arm.
18. A surgical instrument replacement system according to claim 17, wherein, after controlling the instrument cartridge to grasp the surgical instrument to be replaced from a tool arm, the computer program, when executed by the processor, further causes: and identifying an interface on the instrument containing part, on which a surgical instrument is to be placed, and correspondingly connecting the surgical instrument grabbed by the mechanical arm with the interface.
19. A surgical instrument replacement system according to claim 16, wherein prior to controlling the robotic arm to grasp a surgical instrument to be replaced from the instrument receptacle, the computer program when executed by the processor further effects: and identifying an interface corresponding to a surgical instrument to be replaced on the instrument containing part, and correspondingly connecting the mechanical arm with the interface.
20. A surgical instrument exchange system according to claim 18 or 19, wherein the identification of the interface on the instrument housing is done by scanning a coded pattern of the interface of the instrument housing to learn a unique property of the interface.
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