CN114983598A

CN114983598A - End tool exchange device, surgical robot, exchange method, and control apparatus

Info

Publication number: CN114983598A
Application number: CN202210617729.8A
Authority: CN
Inventors: 不公告发明人
Original assignee: Suzhou Xiaowei Changxing Robot Co ltd
Current assignee: Suzhou Xiaowei Changxing Robot Co ltd
Priority date: 2022-06-01
Filing date: 2022-06-01
Publication date: 2022-09-02

Abstract

The invention relates to the technical field of dental implant medical equipment, in particular to a tail end tool replacing device, a surgical robot, a replacing method and control equipment. The tail end tool replacing device comprises a base, wherein a plurality of storage parts, a first calibration part and a second calibration part which are fixed in position are arranged on the base, the first calibration part comprises a standard part and a first positioning part, the standard part is used for calibrating the static precision of the tail end of the mechanical arm, the first positioning part is used for providing the position of the standard part, and the standard part has a first relative position relation with respect to the first positioning part; the second calibration component comprises a calibration piece and a second positioning piece, the calibration piece is used for calibrating the dynamic precision of the tail end of the mechanical arm, the second positioning piece is used for providing the position of the calibration piece, and the calibration piece has a second relative position relation with respect to the second positioning piece; the storage component is used for storing the end tool and has a third opposite position relation relative to the second positioning piece.

Description

End tool exchange device, surgical robot, exchange method, and control apparatus

Technical Field

The invention relates to the technical field of dental implant medical equipment, in particular to a tail end tool replacing device, a surgical robot, a replacing method and control equipment.

Background

In the field of dental implantation, in order to avoid bone burn, a step-by-step hole preparation method is required for hole preparation operation, so that a drill bit needs to be frequently replaced in the hole preparation process. Dental implantation in the prior art is purely manual operation, which leads to the fact that the hole preparation effect depends on the technical level of medical staff, and the hole preparation effect is difficult to ensure uniform high quality. With the continuous advancement of intellectualization in the medical field, the automatic operation of the dental implant preparation hole gradually becomes a research hotspot.

At present, the following technical schemes exist for the automatic planting hole, including: 1. drilling a prepared hole by one-time forming; 2. preparing a hole by using a drilling machine; 3. preparing holes by adopting a laser technology; 4. and (4) preparing holes by using a robot. In the scheme, the one-time forming drill cannot completely meet the requirements of planting depth and size, and the effect is poor in practice; although the drilling machine for preparing the hole can adapt to different planting depths and sizes by replacing different drill bits in the drilling process, the process of replacing the drill bits still needs manual operation and control, and the complete automation cannot be realized; the prior art of laser hole preparation is not mature, and the problem of heating in hole preparation is difficult to overcome, so that bone burn is easily caused; the existing robot has no automatic drill changing function, the drill bit still needs to be manually changed, and the service experience is poor.

Disclosure of Invention

Based on the above, the invention provides a tip tool replacing device, a surgical robot, a replacing method and a control device, which can realize automatic replacement of a tip tool of the surgical robot.

The invention discloses an end tool replacing device, which comprises a base, wherein a plurality of storage parts, a first calibration part and a second calibration part which are fixed in position are arranged on the base, the first calibration part comprises a standard part and a first positioning part, the standard part is used for calibrating the static accuracy of the tail end of a mechanical arm, the first positioning part is used for providing the position of the standard part, and the standard part has a first relative position relation with respect to the first positioning part;

the second calibration component comprises a first calibration piece and a second positioning piece, the first calibration piece is used for calibrating the dynamic precision of the tail end of the mechanical arm, the second positioning piece is used for providing the position of the first calibration piece, and the first calibration piece has a second relative position relation with respect to the second positioning piece; the storage component is used for storing the end tool, and the storage component has a third opposite position relation relative to the second positioning piece.

In some embodiments, at least three first positioning members are provided, and adjacent first positioning members are connected end to form a first geometric figure; at least three second positioning parts are arranged, and the adjacent second positioning parts are connected end to form a second geometric figure; the first geometric figure is different in shape and/or size from the second geometric figure.

In some embodiments, the end tool is a drill bit and the standard has the same shank as the drill bit, through which the standard can be mounted to the end of the arm.

In some embodiments, the number of the first calibration piece is at least two, and the first calibration piece is formed with the base in one step.

In some embodiments, the base includes a body, a first mounting surface, and a second mounting surface, the body being coupled to the first mounting surface, the first mounting surface being coupled to the second mounting surface, the first calibration member and the storage member being disposed at a side of the first mounting surface, the second calibration member being disposed at a side of the second mounting surface.

In some embodiments, a portion of the body facing the first mounting surface is provided with a recess in which the first alignment member is secured.

In some embodiments, the area of the first mounting surface above the recess is provided with a standard storage component for storing the standard piece; wherein, the first installation surface is provided with an opening above the depressed part, and the first positioning piece is exposed from the opening.

In some embodiments, the standard storage component is provided with a second calibration piece for calibrating the position of the tail end of the mechanical arm.

In some embodiments, the first mounting surface is provided with indicia corresponding to each of the storage components.

In some embodiments, at least one of the storage members is adapted to store a calibration probe.

In some embodiments, a cleaning member is further disposed on the base, and the cleaning member has a fourth relative position relationship with respect to the second positioning member.

In some embodiments, the cleaning component includes a blowing cavity, and the wall of the blowing cavity is provided with an air inlet, an air outlet and a socket, and the socket enables a terminal tool to directly face the air inlet after entering the blowing cavity through the socket.

In some embodiments, the storage component includes a storage channel, a storage cavity and a taking-out channel, the storage cavity is respectively communicated with the storage channel and the taking-out channel, the terminal tool can enter and be stored in the storage cavity through the storage channel, and the terminal tool can be taken out of the storage cavity through the taking-out channel.

In some embodiments, the storage cavity comprises a first cavity for receiving the connecting end of the end tool and a second cavity for receiving the flange of the end tool; the taking-out channel is coaxial and communicated with the first cavity, the storage channel comprises a limiting sliding groove matched with the axial size of the flange, and the limiting sliding groove is located in the radial direction of the second cavity and communicated with the second cavity; the axial dimension of the second cavity is larger than that of the flange, so that the flange is staggered with the limiting sliding groove when being positioned in the second cavity.

In a second aspect, the invention discloses a surgical robot comprising a robotic arm tip, a tip tool changer as described in any of the preceding, a positioning system, and a guidance system, wherein,

a third positioning piece is arranged corresponding to the tail end of the mechanical arm, and the positioning system can determine the position of the tail end of the mechanical arm through the third positioning piece;

the positioning system can determine the position of the standard component, the position of the first calibration component and the position of the storage component through the first positioning component and the second positioning component;

the guide system is capable of guiding the end of the robot arm to move to the standard, the first calibration piece, and the storage component.

The third aspect of the present invention discloses a method for replacing a distal end tool of a surgical robot, comprising the steps of:

s1, acquiring the pose of the tail end of the mechanical arm, guiding the tail end of the mechanical arm to move to a standard piece on a tail end tool replacing device, and calibrating the static precision of the tail end of the mechanical arm by matching the mechanical arm and the standard piece;

s2, guiding the tail end of the mechanical arm to move to a first calibration piece on the tail end tool replacing device, and calibrating the dynamic precision of the tail end of the mechanical arm by matching the mechanical arm with the first calibration piece;

s3, guiding the tail end of the mechanical arm to move to a storage component on the tail end tool replacing device to replace the tail end tool;

the static accuracy refers to the deviation between the actual pose and the expected pose of the tail end of the mechanical arm mounted to the mechanical arm; the dynamic precision refers to the deviation of the position actually reached by the tail end of the mechanical arm when moving from the expected position.

In some embodiments, the step S1 includes:

s11, the positioning system obtains a first static position of the tail end of the mechanical arm through the third positioning piece;

s12, guiding the tail end of the mechanical arm to move to the standard part according to the first static position of the tail end of the mechanical arm and the position of the standard part provided by the first positioning part, wherein the tail end of the mechanical arm is matched with the standard part, and the attitude information of the tail end of the mechanical arm is calibrated;

and S13, determining the accurate static position expected to be reached by the tail end of the mechanical arm at the moment through the first positioning piece, acquiring a second static position of the tail end of the mechanical arm at the moment through the third positioning piece, and verifying and compensating the second static position according to the accurate static position.

In some embodiments, step S2 includes:

s21, guiding the tail end of the mechanical arm to move to the first calibration piece by a guide system;

s22, determining an uncalibrated dynamic position of the tail end of the mechanical arm through a third positioning piece, and determining an accurate dynamic position which is expected to be reached by the tail end of the mechanical arm at the moment through a second positioning piece;

and S23, verifying and compensating the uncalibrated dynamic position according to the accurate dynamic position.

A fourth aspect of the present invention discloses a control apparatus for a surgical robot, including a memory in which a computer program is stored and a processor that implements the steps of the tip tool changing method according to any one of the preceding claims when the processor executes the computer program.

Advantageous effects

Compared with the prior art that the tail end of the mechanical arm is manually calibrated and the tail end tool is manually replaced, the tail end tool replacing device provided by the invention is provided with the first positioning part for providing the position of the standard part and the second positioning part for providing the position of the first calibrating part, so that the static precision and the dynamic precision of the tail end of the mechanical arm can be automatically calibrated, and the tail end tool can be directly replaced after the calibration is finished, thereby greatly improving the replacing efficiency of the tail end tool, simplifying the flow required by replacing the tail end tool, increasing the automation degree of the operation, and establishing a good foundation for realizing the remote operation of the hole preparation operation.

Drawings

FIG. 1 is a schematic view of a surgical robot of the present invention in some embodiments;

FIG. 2 is a schematic view of an end tool changer of the present invention in some embodiments;

FIG. 3 is a schematic view of a first alignment feature of an end tool changer of the present invention in some embodiments;

FIG. 4 is a schematic view of a cleaning member of an end tool changer of the present invention in some embodiments;

FIG. 5 is a cross-sectional view of the cleaning member of FIG. 4;

FIG. 6 is a schematic view of a storage component of the end tool changer of the present invention in a partial embodiment;

FIG. 7 is a cross-sectional view of the storage component of FIG. 6;

FIG. 8 is a schematic view of the use of the storage component of the end tool changer of the present invention in some embodiments;

FIG. 9 is a block diagram of an adjustment arm of a surgical robot embodying features of the present invention in a partial embodiment;

FIG. 10 is a schematic view of a drill of a surgical robot of the present invention in some embodiments;

FIG. 11 is a flow chart of a method of tip tool exchange for a surgical robot of the present invention in some embodiments;

fig. 12 is a detailed flowchart of step S1 of the tip tool replacing method of the surgical robot according to the present invention in some embodiments;

fig. 13 is a detailed flowchart of step S2 of the method for replacing the end tool of the surgical robot according to the present invention in some embodiments.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated 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.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The invention aims to provide an end tool replacing device which is suitable for a surgical robot system and is used for realizing automatic replacement of a mechanical arm end tool of a surgical robot.

The end tool replacing device comprises a base, a plurality of storage components, a first calibration component and a second calibration component, wherein the storage components, the first calibration component and the second calibration component are arranged on the base and are fixed in position, the first calibration component comprises a standard component and a first positioning component, the standard component is used for calibrating the static accuracy of the tail end of the mechanical arm, the first positioning component is used for providing the position of the standard component, and the standard component has a first relative position relation with respect to the first positioning component; the second calibration component comprises a calibration piece and a second positioning piece, the calibration piece is used for calibrating the dynamic precision of the tail end of the mechanical arm, the second positioning piece is used for providing the position of the calibration piece, and the calibration piece has a second relative position relation with respect to the second positioning piece; the storage component is used for storing the end tool, and the storage component has a third opposite position relation relative to the second positioning piece.

It should be noted that tip tools include, but are not limited to, drills, alignment probes, saw blades, bone screws, and the like. Of course, when the kind of the end tool is changed, the structural adaptability of the storage part for storing the end tool is changed so that the corresponding end tool can be stably stored. Similarly, the mounting parts of the end of the arm and the end tool of the surgical robot are different depending on the type of the end tool to be mounted.

The following will illustrate that the end tool replacing device is suitable for a surgical robot system, and is used for realizing automatic replacement of drill bits of different types in the process of preparing holes step by a surgical robot. It should be understood that the tip tool changer of the present invention may also be applied to other surgical robotic systems requiring automatic changing of different types of tip tools.

Referring to fig. 1, fig. 1 shows a schematic view of a surgical robot having a robot arm tip 1 to which a drill bit can be mounted, according to an embodiment of the present invention. In order to implement the replacement of the drill bit of the robot arm tip 1, in some embodiments, as shown in fig. 1, the surgical robot of the present invention further includes a tip tool replacing device 2. As shown in fig. 2, which is a schematic view of the tip tool changer 2, the tip tool changer 2 includes: the base 20, the base 20 is provided with a plurality of storage components 21 fixed in position relative to the base 20, a first calibration component 24 and a second calibration component. As shown in fig. 3, which is an enlarged view of the first calibration component 24, in this embodiment, the first calibration component 24 includes a standard 241 and a first positioning component 242, the standard 241 is used for calibrating the static accuracy of the end 1 of the robot arm, the first positioning component 242 is used for providing the position of the standard 241, and the standard 241 has a certain first relative position relation with respect to the first positioning component 242. The second calibration means comprises a first calibration member 23 and a second positioning member 22, the first calibration member 23 is used for calibrating the dynamic accuracy of the robot arm end 1, the second positioning member 22 is used for providing the position of the first calibration member 23, and the first calibration member 23 has a determined second relative position relation with respect to the second positioning member 22. As shown in fig. 6, which is a specific structural diagram of the storage part 21, the storage part 21 is mainly used for storing the drill bits that are required to be replaced at the end 1 of the robot arm, but other components similar to the drill bits may also be stored on the storage part 21, and the storage part 21 on the base 20 has a determined third relative position relationship with respect to the second positioning member 22.

By providing the end tool changer of the present invention, the surgical robot can calibrate the static accuracy of the robot arm end 1 by using the first calibration member 24 of the end tool changer 2. It should be noted that the static accuracy of the robot arm end 1 needs to be calibrated, because the robot arm end 1 of the surgical robot needs to be detached from the robot arm of the surgical robot. The detached robot arm end 1 is remounted to the robot arm after performing steps such as sterilization, disinfection, etc. Then a difference, for example an angle difference or a distance difference, also called static accuracy, occurs between the actual position of the robot arm end 1 remounted on the robot arm and the desired position. At this time, it is unknown whether or not the static accuracy of the robot arm tip 1 remounted to the robot arm can still satisfy the requirements of the surgical robot. To this end, the end tool changer 2 of the present invention has the first calibration part 24 disposed thereon, and since the first calibration part 24 is obtained by machining, for example, on the base 20, the standard 241 and the first positioning part 242 in the first calibration part 24 have a first relative positional relationship with a certain value and do not change, the first positioning part 242 can provide the position of the standard 241, and the first static position where the robot arm end 1 is remounted on the robot arm can be provided by the third positioning part on the robot arm end 1, so that the surgical robot can guide the robot arm end 1 to the standard 241 according to the position of the standard 241 and the first static position of the robot arm end 1. At this time, since the position of the end 1 of the robot arm coincides with the position of the standard part 241, for the position of the end 1 of the robot arm at this time, on one hand, the third positioning part on the end 1 of the robot arm provides the second static position of the end 1 of the robot arm, and on the other hand, the first positioning part 242 can also provide the accurate static position of the end 1 of the robot arm at this time. The accurate static position provided by the first positioning member 242 can be used to verify and compensate for the second static position provided by the third positioning member on the end 1 of the robot arm, thereby calibrating the static accuracy of the end 1 of the robot arm. In other words, the position of the robot arm tip 1 mapped to the target 7 on the robot arm tip 1 is verified and compensated using the position information of the first positioning member 242 whose coordinate position is known.

Further, in order to realize automatic bit replacement. The second calibration means provided in the tip tool changer can perform dynamic accuracy calibration of the end of arm 1 of the surgical robot. The dynamic precision refers to the deviation between the actual arrival position of the tail end 1 of the mechanical arm and the expected arrival position of the tail end 1 of the mechanical arm according to the instruction, wherein the tail end 1 of the mechanical arm is controlled to move by the mechanical arm according to the instruction after the mechanical arm is provided with a load (the tail end 1 of the mechanical arm). Only by calibrating and compensating for the dynamic accuracy (the deviation between the actual motion position and the expected motion position) can the robot arm achieve accurate operation.

In particular, the second calibration part is obtained on the base 20 by means of, for example, machining, and therefore the first calibration part 23 and the second positioning part 22 included in the second calibration part have a numerically determined second relative positional relationship, so that the second positioning part 22 can accurately provide the position of the first calibration part 23, so that the dental robot can guide the robot arm tip 1 to move to the first calibration part 23 according to the position of the first calibration part 23. And giving an instruction to the surgical robot, and driving the tail end 1 of the mechanical arm to move towards the first calibration piece 23 by the mechanical arm. When the robot completes the command, the actually reached uncalibrated dynamic position of the robot end 1 can be obtained through the third positioning element on the robot end 1. The actual position of the first alignment element 23 provided by the second positioning element 22 is the exact dynamic position that the robot arm end 1 should theoretically reach. The dynamic accuracy of the end of arm 1 can be verified and compensated by comparing the accurate dynamic position with the actual arriving uncalibrated dynamic position of the end of arm 1. Ideally after compensation, it should be achieved that the actual position of the first calibration piece 23 coincides with the actual arrival position of the end of the robot arm 1. Therefore, after the dynamic precision of the tail end 1 of the mechanical arm is calibrated, the surgical robot can more accurately move the tail end 1 of the mechanical arm to the storage part 21 for operations such as drilling loading, drilling changing and the like, and the requirement on the accuracy of the surgical robot in hole preparation operation can be met.

From the above analysis, compared with the prior art in which the tail end of the mechanical arm is manually calibrated and the drill is manually replaced, the tail end tool replacing device of the present invention has the first positioning element 242 providing the position of the standard element 241 and the second positioning element 22 providing the position of the first calibration element 23, so that the static precision and the dynamic precision of the tail end 1 of the mechanical arm can be automatically calibrated, and after the calibration is completed, the tail end of the mechanical arm can be accurately moved to the storage element 1 to replace the target drill, thereby greatly improving the efficiency and the accuracy of drill replacement, simplifying the flow required for replacing the surgical tool, increasing the degree of automation of the surgery, and establishing a good foundation for the operation of the step-by-step hole preparation surgery.

Specifically, in order to provide the position of the standard element 241, in the partial embodiment shown in fig. 3, at least three first positioning elements 242 are arranged around the standard element 241, and the adjacent first positioning elements 242 are connected end to form the first geometric figure. Similarly, there are at least three second positioning elements 22, these second positioning elements 22 being arranged in the vicinity of the first alignment element 23 and being connected end to form a second geometric figure. In order to distinguish the second positioning element 22 from the first positioning element 242, the first positioning element 242 may have a first geometry which is different from the second geometry of the second positioning element 22 in shape and/or size.

As a specific example, as shown in fig. 2, the base 20 is substantially a rectangular parallelepiped structure including a first mounting surface 26, and the storage section 21 is provided on the first mounting surface 26.

The base 20 further includes a body 201, the body 201 is connected to the first mounting surface 26, a recessed portion 261 is provided on a partial region of the body 201 facing the first mounting surface 26, and the first alignment member 24 is fixed in the recessed portion 261.

The area of the first mounting surface 26 above the recess 261 is provided with a standard storage part 28, and the standard storage part 28 is similar in structure to the storage part 21 for storing the standard 241.

The area of the first mounting surface 26 above the recess 261 also includes openings that are distributed on both sides of the standard storage component 28, with the first locator 242 exposed through the openings so that it can be captured by the vision device of the surgical robot.

Further, a second calibration member 27 is disposed on the standard storage unit 28, and is used for verifying and compensating the position accuracy of the robot arm end 1 under the mapping of the third positioning member 7. The second calibration piece 27 is for example a calibration socket provided on the standard storage part 28. The position accuracy of the mechanical arm tail end 1 under the mapping of the third positioning part 7 is judged by guiding the mechanical arm tail end 1 to move to the position of the second calibration part 27. The second calibration piece 27 is formed on the top surface of the standard storage part 28, for example, by machining. In other embodiments of the present application, the second alignment feature 27 may be located on the modular storage component 28 at any location that is accessible by the robot arm end 1.

In this embodiment, the number of the storage parts 21 is plural, each storage part 21 has a relatively fixed position on the first mounting surface 26, and the number of each storage part 21 can be numbered according to the position information of the storage part, and in the subsequent process of automatically replacing the end tool (e.g., drill), the number is selected by the control module, so that the end 1 of the robot arm moves to the corresponding storage part 21 to replace the corresponding end tool (e.g., drill). Further, a mark, which may be a number, a letter, or the like, is provided on the first mounting surface 26 corresponding to each storage part 21, which is more advantageous for manually arranging the end tool in the storage part 21.

It should be noted that at least one of the plurality of storage units 21 is used for storing the calibration probe, and after the calibration probe is picked up by the robot arm end 1, the calibration probe is used for verifying the position accuracy of the robot arm end 1 during the movement, and if the verified position accuracy is low, the control module performs compensation according to the position deviation. The process of verifying the positional accuracy during the movement of the robot arm tip 1 will be described in detail in the "dynamic accuracy" calibration process described below.

With continued reference to fig. 2, the base 20 further includes a second mounting surface 29, the second alignment feature being disposed on the second mounting surface 29. In the present embodiment, the first mounting surface 26 and the second mounting surface 29 are connected to each other, and the second mounting surface 29 and the first mounting surface 26 are substantially perpendicular, but not limited thereto. In other embodiments of the present invention, the first mounting surface and the second mounting surface can be selected according to actual requirements according to different specific shapes of the base, and in some specific embodiments, the first mounting surface and the second mounting surface can be different regions on the same surface.

The second positioning elements 22 and the first alignment elements 23 of the second alignment part are respectively distributed on the second installation surface 26, wherein the number of the second positioning elements 22 is 3, and the number of the first alignment elements 23 is also 3, and preferably, the geometrical shape formed by the end-to-end connection of the second positioning elements 22 is different from the geometrical shape formed by the end-to-end connection of the first positioning elements 242 on the first installation surface 26.

Further, the geometry of the first alignment element 23 and the geometry of the second positioning element 22 are different from each other.

Preferably, the number of the first calibration members 23 is 2 or more, wherein the first calibration members 23 are distributed on the periphery of the second positioning member 22, so as to ensure that the robot arm end 1 is not interfered by the second positioning member 22 during the process of moving towards the first calibration members 23 under the driving of the guiding system.

By integrating the first calibration part and the second calibration part on one base, the robot arm tip 1 of the dental surgery robot can automatically calibrate the moving position and the assembling posture in the recognition space of the vision device 3, thereby realizing the completely automatic replacement of the tip tool (such as a drill).

As a specific practical example, in some embodiments, the surgical robot is provided with a vision device, and three reflective target balls serving as the first positioning members 242 are provided on the base 20, and the reflective target balls can be captured by the vision device. As shown in fig. 3, three reflective target balls are mounted on the same web, the web is hollowed out to provide a space for accommodating the standard 241, and the three reflective target balls are arranged around the standard 241 to form a first triangle. As shown in fig. 2, three reflective target balls serving as the second positioning element 22 are also disposed near the first calibration element 23, the three reflective target balls serving as the second positioning element 22 form a second triangle, the first triangle and the second triangle are separated from each other and do not overlap, and the first triangle and the second triangle have different shapes and sizes. In this way, the first positioning element 242 and the second positioning element 22 can clearly provide the positions of the standard element 241 and the first calibration element 23 to the surgical robot, so that the robot arm end 1 can move to the standard element 241 and the first calibration element 23.

In order to calibrate the static accuracy of the robot arm end 1, in particular, in the partial embodiment shown in fig. 3, the standard 241 has the same drill shank as the drill bit, by means of which the standard 241 can be mounted on the robot arm end 1. The first positioning member 242 is connected in a radial direction of the standard member 241, and the first positioning member 242 can provide a position of the standard bit axis. Since the standard part 241 can be precisely mounted on the end 1 of the robot arm, and the first positioning part 242 can provide the axis position of the standard part 241, after the standard part 241 is mounted on the end 1 of the robot arm, the axis of the standard part 241 coincides with the axis of the end 1 of the robot arm, and the first positioning part 242 can provide the accurate position of the end 1 of the robot arm, and the position provided by the end 1 of the robot arm itself is calibrated by using the accurate position, so that the static precision of the end 1 of the robot arm can be calibrated.

In order to calibrate the dynamic accuracy of the robot arm end 1, in some embodiments as shown in fig. 2, the first calibration member 23 is a calibration dimple, the number of calibration dimples is several, and the second positioning member 22 can provide several positions of the calibration dimple according to the second relative position relationship between the calibration dimple and the second positioning member 22. In this embodiment, one of the storage members 21 stores a calibration probe that can be mounted to the end 1 of the robot arm. The second positioning member 22 may provide a location of the storage member 21 due to the third relative positional relationship of the storage member 21 and the second positioning member 22. Thus, the end of arm 1 may be moved to the storage section 21 for mounting the calibration probes, and then moved to each calibration nest. After the end 1 of the mechanical arm moves to a plurality of calibration pits, the dynamic precision of the end 1 of the mechanical arm can be calibrated.

In some embodiments, as shown in FIG. 2, the present end tool changer 2 further comprises a cleaning member 25 disposed on the base 20, the cleaning member 25 having a fourth relative positional relationship with respect to the second positioning member 22. By the cleaning member 25, it is possible to clean a tip tool such as a drill mounted on the robot arm tip 1.

Specifically, in some embodiments, the cleaning member 25 includes a blowing cavity 250 as shown in fig. 4 and 5, and the blowing cavity 250 has a wall provided with an air inlet 252, an air outlet 254, and a socket 251, wherein the socket 251 allows an end tool (e.g., a drill) to extend into the blowing cavity 250 through the socket 251 and then face the air inlet 252. In this embodiment, the cleaning member 25 is used by first connecting the air tube to the air inlet 252 and controlling the end 1 of the robot arm so that the drill bit extends from the socket 251 into the insufflation cavity 250. At this time, the air pipe injects air into the air blowing cavity 250 through the air inlet 252, and under the action of strong air flow and the difference between the internal air pressure and the external air pressure of the air blowing cavity 250, the air flow leaves the air blowing cavity 250 from the air outlet 254, and dirt on the drill bit is driven to be separated from the drill bit, so that the drill bit is cleaned.

As some examples that may be particularly realized, the cleaning member 25 may be provided as part of the base 20, i.e. the blow cavity 250, within the body 201, as shown in fig. 5. Specifically, the air blowing cavity 250 is provided at a side of the recess 261 of the body 201, the socket 251 is opened at the first mounting surface 26, and the air inlet 252 and the air outlet 254 are provided at a side wall of the body 201. In other embodiments, the cleaning member 25 may be independently disposed on the base 20 similarly to the other members. In both of the above-mentioned implementations, the cleaning component 25 is always fixed relative to the base 20 and has a fourth relative position relationship with the second positioning element 22, so that the end 1 of the robot arm can be correctly guided to the cleaning component 25 to clean the drill thereon.

In some embodiments, on the basis of the foregoing scheme, the blowing cavity 250 is further provided with a drain outlet 253. The drain opening 253 is in a normally closed state, and when the cleaning component 25 is used for a plurality of times and the like, so that the dirt in the air blowing cavity 250 is accumulated, the drain opening 253 is opened to automatically clean the air blowing cavity 250, so that the cleaning component 25 can be used repeatedly. In the embodiment shown in fig. 5, the soil discharge opening 253 is provided at the bottom of the air blowing chamber 250, and since the soil is naturally deposited by the influence of gravity, the soil discharge opening 253 is provided at the bottom of the air blowing chamber 250 to facilitate the discharge of the soil. In this embodiment, the drain 253 is plugged by a plug screw when not in use, so as to prevent the jet air from escaping from the drain 253 to affect the execution of the cleaning action. When the sewage draining device is needed to be used, the plug screw is unscrewed, and the sewage draining port 253 is communicated with the outside. The dirt in the blowing cavity 250 can be discharged through the drain 253.

It will be appreciated that the end tool changer of the present invention is not critical to the particular configuration of the storage section 21. As some concrete examples, fig. 6 is an isometric view of the storage part 21 in this embodiment, fig. 7 is a sectional view of the storage part 21 in fig. 6, the storage part 21 includes a storage channel 211, a storage cavity 212 and a take-out channel 213, the storage cavity 212 is respectively communicated with the storage channel 211 and the take-out channel 213, the end 1 of the robot arm can place an end tool (e.g. a drill bit) in the storage cavity 212 through the storage channel 211, and the end 1 of the robot arm can take out the end tool (e.g. a drill bit) from the storage cavity 212 through the take-out channel 213.

By providing the storage channel 211, the storage cavity 212 and the retrieval channel 213, this means that the robotic arm tip 1 can perform the storing and retrieving actions of the tip tool (e.g. a drill) through the storage channel 211 and the retrieval channel 213, respectively, which helps medical personnel to verify from the position where the robotic arm tip 1 is mated with the storage part 21 the steps that the planting robot of the present invention is performing. Furthermore, the drill bit is placed into the storage cavity 212 through the storage channel 211 and taken out from the storage cavity 212 through the taking-out channel 213 at the tail end 1 of the mechanical arm, so that the drill unloading step and the drill loading step at the tail end 1 of the mechanical arm are both actions executed in one direction and are not in a reverse execution relation, and the high reliability of the drill unloading step and the drill loading step at the tail end 1 of the mechanical arm is ensured. Even if the planting robot breaks down, the tail end 1 of the mechanical arm in the drill unloading step can not bring the drill bit back to the position of the operation object, and the safety of the operation object is fully guaranteed.

Fig. 8 is a schematic view showing the drill bit placed in the aforementioned storage part 21. As can be seen in fig. 8, the storage cavity 212 comprises a first cavity housing the connection end 41 of the end tool and a second cavity housing the flange 42 of the end tool, the extraction channel 213 being coaxial with and communicating with said first cavity; as shown in fig. 6, the storage channel 211 is provided with a limit chute 214 matching with the axial dimension of the flange 42 of the end tool, the second cavity is communicated with the limit chute 214, and the axial dimension of the second cavity is larger than the axial dimension of the flange 42 of the end tool, so that the flange 42 of the end tool is staggered with the limit chute 214 when being positioned in the second cavity.

With such an arrangement, when the drill bit is arranged on the tail end 1 of the mechanical arm, the flange 42 of the tail end tool on the tail end 1 of the mechanical arm is axially limited by the limiting sliding groove 214, so that the tail end 1 of the mechanical arm can be ensured to smoothly place the drill bit in the storage cavity 212 through the storage channel 211. Moreover, as the axial dimension of the second cavity of the storage cavity 212 for accommodating the flange 42 of the end tool is larger than that of the flange 42 of the end tool, when the drill bit is completely placed in the storage cavity 212, the flange 42 of the end tool is staggered with the limiting sliding groove 214, so that the drill bit is prevented from being taken out of the storage cavity 212 when the tail end 1 of the mechanical arm exits from the storage channel 211, and the stability and the safety of the drill replacing system of the planting robot are ensured. When the end 1 of the mechanical arm needs to be provided with the drill bit, the end 1 of the mechanical arm can be directly connected with the connecting end 41 of the end tool through the taking out channel 213, so that the drill bit is arranged.

As a specific example, the end tool in this embodiment is a drill, and the connecting end 41 is cylindrical and includes a cylindrical surface 412 and a cut surface 411, and the flange 42 is disposed below the connecting end 41. When the connecting end 41 is connected with the end 1 of the mechanical arm, the positioning surface 412 and the tangent surface 411 are clamped in a drill chuck of the end 1 of the mechanical arm. The positioning surface 412 is used for positioning the drill, and the tangent surface 411 limits the connecting end 41 from rotating relative to the drill chuck, so that the end 1 of the robot arm can drive the drill to rotate for drilling. When the drill bit needs to be unloaded, the mechanical arm drives the drill bit on the tail end 1 of the mechanical arm to move, and the drill bit slides to the storage cavity 212 by utilizing the matching of the flange 42 and the limiting sliding groove 214. The mechanical arm drives the tail end 1 of the mechanical arm to apply force to the opposite direction of the drill point along the axis of the drill bit, so that the drill bit is separated from a drill bit clamp at the tail end 1 of the mechanical arm, and the drill bit enters the second cavity under the action of gravity. In this embodiment, the connecting end 41 of the drill bit is also magnetic. The connecting end 41 can be attracted with a drill bit clamp under the driving of magnetic force, so that the connection between the drill bit and the tail end 1 of the mechanical arm is realized.

In another aspect of the invention, a surgical robot is disclosed, which in some embodiments as shown in fig. 1 comprises a trolley 9, and the end tool changer 2, the positioning system and the guidance system are arranged on the trolley 9. In some embodiments, the trolley 9 is provided with a first arm 5, an adjusting arm 4 and a mechanical arm 6. The tail end 1 of the mechanical arm is arranged at the tail end of the mechanical arm 6, and the mechanical arm 6 moves to drive the tail end 1 of the mechanical arm to move. The positioning system is arranged at the end of the first arm 5 and the drill change device end tool change device 2 is mounted at the end of the adjusting arm 4. The robot arm end 1 is provided with a third positioning element 7, and the positioning system can capture the first positioning element 242 and the second positioning element 22 of the end tool changer 2 and the third positioning element 7 of the robot arm end 1, so as to obtain the positions of the standard element 241, the first calibration element 23, the storage part 21 and the robot arm end 1. The trolley 9 can also be provided with a display device 8, and the display device 8 is used for displaying the control flow of the guidance system, so that convenience is brought to the operation of a doctor. The bottom of the trolley 9 is provided with a mute roller, so that the position of the surgical robot can be conveniently adjusted at any time.

In some embodiments, the positioning system comprises a vision device 3 and the third positioning element 7 is a reflective target ball. Through the mapping effect of the reflective target balls of the first positioning member 242, the second positioning member 22 and the third positioning member 7 in the visual field of the vision device 3, the positions of the base 20, the standard member 241, the first calibration member 23, the storage part 21 and the robot arm end 1 can be clearly known, so as to guide the robot arm end 1 to move to the standard member 241, the first calibration member 23 and the storage part 21 respectively for static accuracy calibration, dynamic accuracy calibration and drill replacement operation.

In some embodiments, as shown in fig. 9, the adjusting arm 4 comprises a first portion and a second portion pivotally connected to each other, one end of the first portion is fixedly connected to the slave trolley 9, and one end of the second portion is connected to the end tool changer 2, wherein an adjusting nut is provided at the pivotally connected portion of the first portion and the second portion, and the first portion and the second portion of the adjusting arm 4 are in a free state after the adjusting nut is loosened and can be arbitrarily adjusted to adjust the position of the end tool changer 2; after the end tool changer 2 is adjusted in place, the adjusting nut is tightened, and the degrees of freedom of the first portion and the second portion are locked at the same time, so that the end tool changer 2 is guaranteed to be fixed in position.

In some embodiments, the first arm 5 comprises two sub-arms pivotally connected by a damping adjustment device, which allows the angle between the two sub-arms to be quickly adjusted and maintained, allowing the positioning system to be easily adjusted to the appropriate position to obtain the position of the base 20, the standard 241, the first alignment member 23, the storage member 21 and the end of arm 1.

A third aspect of the present invention discloses a method for replacing a distal end tool of a surgical robot, as shown in fig. 11, including at least the steps of:

s1, acquiring the pose of the tail end of the mechanical arm, guiding the tail end of the mechanical arm to move to the standard piece, and calibrating the static precision of the tail end of the mechanical arm by matching the mechanical arm and the standard piece;

s2, guiding the tail end of the mechanical arm to move to the first calibration piece, and calibrating the dynamic precision of the tail end of the mechanical arm by matching the mechanical arm with the first calibration piece;

s3, guiding the tail end of the mechanical arm to move to the storage component for replacing the tail end tool;

Specifically, since the position and posture of the robot arm tip 1 relative to the robot arm 6 are not always completely consistent after each re-installation of the robot arm 6, the static accuracy of the re-installed robot arm tip 1 may not meet the accuracy requirement of the surgical robot for continuing the drilling operation. For example, when the end tool is a drill, if the posture of the end 1 of the robot arm is incorrect, and the drill is mounted at the end 1 of the robot arm, the axial position of the drill is not at the correct axial position but forms an angle with the correct axial position, so that the drill cannot work normally. Or, the position of the mechanical arm tail end 1 is incorrect, and the axial position of the drill bit is deviated from the correct axial position, so that the drill bit cannot work normally. Therefore, the surgical robot should first perform step S1 to calibrate the static accuracy of the mounting of the robot arm tip 1 on the robot arm 6. After the calibration of the static accuracy of the robot arm tip 1 is completed in step S1, the position and posture of the robot arm tip 1 can be accurately provided, thereby laying down a necessary basis for the subsequent steps.

On this basis, the terminal 1 of arm needs to calibrate its dynamic precision in moving after installing the drill bit and taking place to remove, avoids terminal 1 of arm because the error when removing causes the drill bit can not reach the anticipated position, and then causes adverse effect to the drilling operation, seriously threatens patient's safety. Therefore, in step S2, the robot arm end 1 needs to move to the first calibration piece of the second calibration part of the end tool changer 2, and it is verified whether the dynamic accuracy of the robot arm end 1 meets the expected accuracy requirement by the cooperation of the robot arm end 1 and the first calibration piece 23. If the dynamic accuracy can not meet the requirement, the dynamic accuracy of the tail end 1 of the mechanical arm needs to be calibrated and compensated. To this end, the robot arm end 1 has been verified and calibrated for static and dynamic accuracy, and the robot arm end 1 can be correctly guided to desired positions, such as storage, cleaning and drilling positions, etc., to perform target actions such as drill change, drill cleaning, drilling, etc.

According to the method for replacing the end tool of the surgical robot, the first calibration part 24 for static precision calibration and the second calibration part for dynamic precision calibration are arranged on the base 20, so that the static precision calibration and the dynamic precision calibration can be continuously and automatically performed at the tail end 1 of the mechanical arm in sequence by using the simpler structural form of the end tool replacing device 2, and compared with the traditional scheme of manually replacing a drill bit, the drill replacing efficiency and the drill replacing accuracy of the tail end 1 of the mechanical arm are greatly improved.

In some embodiments, the surgical robot of the present invention performs numbering processing on the positions of the standard parts, the positions of the first calibration parts, and the positions of the storage parts, which are referred to in steps S1-S3, that is, the positions of each standard part, each first calibration part, and each storage part are individually assigned with numbers and the mapping relationship and the position information are stored. In this way, when the surgical robot needs to be controlled to perform a certain step, for example, when the surgical robot needs to move to a specific standard component, first calibration component and storage component, the serial numbers of the specific standard component, first calibration component and storage component are determined first, then the surgical robot is controlled to read the position information of the standard component, first calibration component or storage component corresponding to the serial numbers, and then the tail end of the mechanical arm is moved to the corresponding position through the guiding system. The control mode of the surgical robot strengthens the intuition degree in the operation, and is convenient for operators to understand and use.

In some embodiments, step S1 is specifically shown in fig. 12, and includes at least:

and S13, the positioning system determines the accurate static position expected to be reached by the tail end of the mechanical arm at the moment through the first positioning piece, the positioning system obtains the second static position of the tail end of the mechanical arm at the moment through the third positioning piece, and the second static position is verified and compensated according to the accurate static position.

In step S11, in some embodiments, the end of the robot arm 6 is provided with a third positioning element 7 corresponding to the robot arm end 1, and the third positioning element 7 may be a reflective target ball for providing the positioning system with the first static position of the robot arm end 1 when mounted on the robot arm 6.

In step S12, the positioning system guides the robot arm end 1 to move from the first static position to the standard 241 according to the first static position and the position of the standard 241 provided by the first positioning element 242. In some embodiments, the standard 241 is configured to have the same drill shank as the drill bit. The standard 241 is set to: the robot arm end 1 can still be accurately mounted with the standard 241 even if the static accuracy of the robot arm end 1 is not very high. So configured, when the standard 241 is correctly mounted on the end 1 of the mechanical arm, on one hand, the axis of the standard 241 (drill shank) must coincide with the axis of the end 1 of the mechanical arm, so that the attitude information of the end 1 of the mechanical arm is calibrated during the process of being mounted in alignment with the axis of the standard 241 (drill shank); on the other hand, since the standard part 241 is to be mounted on the robot arm end 1, the position information of the robot arm end 1 is necessarily the same as the position information of the standard part 241, so that the first positioning part 242 can also accurately provide the position of the robot arm end 1 at this time, i.e., the accurate static position of the robot arm end 1.

In step S13, since there are both the second static position of the end 1 of the mechanical arm provided by the third positioning element 7 and the accurate static position of the end 1 of the mechanical arm provided by the first positioning element 242, the surgical robot can verify and compensate the second static position according to the accurate static position, so as to determine the most accurate position of the end 1 of the mechanical arm in the positioning system.

In some embodiments, step S2 is specifically shown in fig. 13, and includes at least:

s22, the positioning system determines the uncalibrated dynamic position of the tail end of the mechanical arm through a third positioning piece, and determines the accurate dynamic position which is expected to be reached by the tail end of the mechanical arm at the moment through the second positioning piece;

In some embodiments, the guiding system guides the robot arm end 1 to move to the first calibration piece 23 according to the position of the robot arm end 1 determined by the third positioning element and the position of the first calibration piece 23 determined by the second positioning element 22 in step S21. In step S22, the positioning system can obtain the uncalibrated dynamic position of the end 1 of the robot arm from the third positioning element for the position of the end 1 of the robot arm at this time, and since the first calibration element 23 should theoretically coincide with the position of the end 1 of the robot arm at this time, the positioning system can obtain the accurate dynamic position which is expected to be reached by the end 1 of the robot arm at this time from the second positioning element 22. Therefore, in step S23, the surgical robot can verify and compensate the uncalibrated dynamic position of the robot arm tip 1 according to the accurate dynamic position, so that the accurate dynamic position of the robot arm tip 1 in the positioning system can be determined.

More specifically, in some embodiments, before step S21, the method further includes guiding the robot arm tip 1 to a position in the storage component where the calibration probe is placed, and mounting the calibration probe on the robot arm tip 1. So that the robot arm tip 1 can be moved to the first aligning member 23 in a state where the aligning probe is mounted while performing step S21. In this embodiment, the first calibration piece 23 is a calibration socket into which a calibration probe may be physically inserted or contacted to ensure that the robot arm tip 1 coincides with the position of the first calibration piece 23. In some embodiments, the calibration probes may also be in physical contact with the peripheral region of the calibration nest.

After the surgical robot executes the drill replacing process, the step-by-step hole preparing process can be continuously executed. For example, the step-by-step hole preparation process performed by the surgical robot may include:

step 1, reading the number and sequence of drill bits for preparing holes;

step 2, reading the serial number of the storage part where the drill bit is positioned in the first sequence, and acquiring the position of the storage part and the specific model of the drill bit;

step 3, controlling the tail end of the mechanical arm to move to the storage part to complete drill loading of the drill bit; specifically, the end of the robot arm is adjusted so that the axis thereof is parallel to the axis of the storage cavity of the storage member, and the end of the robot arm reaches the first cavity along the takeout path of the storage member, so that the connecting end of the drill bit is mounted on the end of the robot arm. As a specific example, the drill bit connecting end and the tail end of the mechanical arm are in magnetic attraction connection and matching;

step 4, starting track recording of the mechanical arm and starting a teaching process;

step 5, manually dragging the mechanical arm to be close to a preoperative planning position (namely the oral cavity of the patient);

step 6, automatically adjusting the mechanical arm to a planned position; specifically, in addition to giving a specific punching position in the dental mold, a range of automatic adjustment is also defined, which is a safe action space established by the virtual wall, and avoids collision with tissues and teeth in the dental mold. The safety during planting in the oral cavity of a patient can be improved by carrying out safety test and adjustment in the oral cavity mold;

step 7, executing a drilling process; specifically, the surgical robot knows various data of the drill bit, such as the diameter of the drill bit, according to the serial number of the drill bit. Calculating the linear speed of the drill bit according to the diameter of the drill bit, and giving reference values of the drilling speed and the torque according to the calorific value and the cooling requirement; the planned drilling depth is generally set aside for 2mm in consideration of safety, and the drill bit is guaranteed not to damage dental nerves. When the drilling depth reaches the planned depth, the tail end of the mechanical arm enables the drill bit to rotate reversely and drives the drill bit to withdraw from the bottom hole, and the drilling process is completed;

step 8, manually dragging the mechanical arm to an out-of-mouth safety area, and finishing the drilling action of the wheel;

step 9, stopping recording the track of the mechanical arm; through the steps 4-9, the surgical robot can use at least one of the angle, the posture and the path parameter in the teaching process as a template for automatic adjustment of the subsequent mechanical arm, and can repeatedly call the state;

step 10, controlling the tail end of the mechanical arm to move to a cleaning part to clean the drill bit;

step 11, reading the number of a storage part where the next drill bit is positioned, and acquiring the position of the storage part and the specific model of the drill bit;

step 12, controlling the tail end of the mechanical arm to move to the storage part to complete drill bit replacement;

and 13, repeating the steps 4-11 until the step-by-step hole preparation is completed.

By using the surgical robot and the method for replacing the tail end tool of the surgical robot, the operation precision of the tail end of the mechanical arm of the surgical robot and the efficiency of changing the drill of the tail end of the mechanical arm are greatly improved, the human participation is reduced, the replacement process of the drill bit is simplified, the degree of automation of the surgery is greatly increased, and a good foundation is laid for realizing the automatic hole preparation of the surgical robot.

The fourth aspect of the present invention discloses a surgical robot control apparatus, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for replacing a distal end tool of a surgical robot described in any one of the above when executing the computer program.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. An end tool changer comprising a base provided with a plurality of storage parts, a first aligning part and a second aligning part, which are fixed in position,

the first calibration component comprises a standard part and a first positioning part, the standard part is used for calibrating the static accuracy of the tail end of the mechanical arm, the first positioning part is used for providing the position of the standard part, and the standard part has a first relative position relation with the first positioning part;

the second calibration component comprises a first calibration piece and a second positioning piece, the first calibration piece is used for calibrating the dynamic precision of the tail end of the mechanical arm, the second positioning piece is used for providing the position of the first calibration piece, and the first calibration piece has a second relative position relation with respect to the second positioning piece;

the storage component is used for storing the end tool, and the storage component has a third opposite position relation relative to the second positioning piece.

2. The end tool changer of claim 1, wherein there are at least three first indexing members, adjacent first indexing members being joined end to form a first geometry; at least three second positioning parts are arranged, and the adjacent second positioning parts are connected end to form a second geometric figure; the first geometric figure is different in shape and/or size from the second geometric figure.

3. The tip tool changer of claim 1, wherein the tip tool is a drill bit, and the standard has the same drill shank as the drill bit, and the standard is mountable to a robot arm tip via the drill shank.

4. The end tool changer of claim 1, wherein the number of the first calibration members is at least two, and the first calibration members are formed at one time with the base.

5. The end tool changer of claim 1, wherein the base includes a body, a first mounting surface, and a second mounting surface, the body being connected to the first mounting surface, the first mounting surface being connected to the second mounting surface, the first alignment member and the storage member being disposed on a side of the first mounting surface, the second alignment member being disposed on a side of the second mounting surface.

6. The end tool changer of claim 5, wherein a partial region of the body facing the first mounting surface is provided with a recess in which the first alignment member is fixed.

7. The end tool changer of claim 6, wherein an area of the first mounting surface above the recess is provided with a standard storage member for storing the standard; wherein, the first installation surface is provided with an opening above the depressed part, and the first positioning piece is exposed from the opening.

8. The end tool changer of claim 7, wherein a second calibration member for calibrating the position of the end of the robot arm is provided on the master storage unit.

9. The end tool changer of claim 5, wherein the first mounting surface is provided with indicia corresponding to each of the storage members.

10. The end tool changer of claim 1, wherein at least one of the storage components is configured to store a calibration probe.

11. The end tool changer of claim 1, further comprising a cleaning member disposed on the base, the cleaning member having a fourth relative positional relationship with respect to the second positioning member.

12. The tip tool changing device according to claim 11, wherein the cleaning member includes an air blowing chamber, and an air inlet, an air outlet, and a socket are provided on a wall of the air blowing chamber, the socket allowing the tip tool to enter the air blowing chamber therethrough and then face the air inlet.

13. The end tool changer according to claim 1, wherein the storage member includes a storage passage, a storage cavity, and a take-out passage, the storage cavity communicates with the storage passage and the take-out passage, respectively, an end tool can be entered and stored in the storage cavity through the storage passage, and an end tool can be taken out from the storage cavity through the take-out passage.

14. The end tool changer of claim 13, wherein the storage cavity comprises a first cavity to receive the connection end of the end tool and a second cavity to receive the flange of the end tool; the taking-out channel is coaxial and communicated with the first cavity, the storage channel comprises a limiting sliding groove matched with the axial size of the flange, and the limiting sliding groove is located in the radial direction of the second cavity and communicated with the second cavity; the axial dimension of the second cavity is larger than that of the flange, so that the flange is staggered with the limiting sliding groove when being positioned in the second cavity.

15. A surgical robot comprising a robot arm tip, a tip tool changer according to any one of claims 1 to 14, a positioning system, and a guide system, wherein,

16. A method of tip tool exchange for a surgical robot according to claim 15, comprising the steps of:

s2, guiding the tail end of the mechanical arm to move to a first calibration piece on a tail end tool replacing device, and calibrating the dynamic precision of the tail end of the mechanical arm by matching the mechanical arm and the first calibration piece;

17. The tip tool changing method of a surgical robot according to claim 16, wherein the step S1 includes:

18. The tip tool replacing method of a surgical robot according to claim 16, wherein the step S2 includes:

19. A control device for a surgical robot, comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the end-tool changing method according to any one of claims 16 to 18.