CN115040172A

CN115040172A - Preoperative tapping instrument of medical robot, control method and medical equipment

Info

Publication number: CN115040172A
Application number: CN202210599807.6A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2022-05-30
Filing date: 2022-05-30
Publication date: 2022-09-13

Abstract

The specification relates to the technical field of minimally invasive surgery, and particularly discloses a preoperative tapping instrument of a medical robot, a control method and medical equipment, wherein the instrument comprises: the pneumatic sealing mechanism, the hole opening mechanism and the controller are arranged on the frame; the pneumatic sealing mechanism is used for being in contact with the skin of a patient to form a sealed chamber between the pneumatic sealing mechanism and the skin of the patient, and is also used for sucking the skin of the patient towards the inside of the sealed chamber by using negative pressure and detecting the sucked degree of the skin of the patient; the tapping mechanism comprises a tapping tool and a driving mechanism, and the front end of the tapping tool is positioned inside the sealed chamber; the controller is used for controlling the driving mechanism to drive the trepanning tool to move towards the skin of the patient when the attracted degree meets a preset condition, so that the front end of the trepanning tool performs preoperative trepanning on the skin of the patient. Above-mentioned scheme can realize automatic trompil before the art, improves security and operation efficiency, reduces doctor's work load, improves patient's operation and experiences.

Description

Preoperative tapping instrument of medical robot, control method and medical equipment

Technical Field

The specification relates to the technical field of minimally invasive surgery, in particular to a preoperative tapping instrument of a medical robot, a control method and medical equipment.

Background

In a minimally invasive surgery, an instrument called a stab card is usually inserted into an abdominal wall, the stab card is a metal tube instrument with a conical front end, instruments for surgery (such as a scalpel, a laparoscope and other instruments) extend into the metal tube of the stab card to enter an abdominal cavity for operation, carbon dioxide gas is filled into the abdominal cavity to ensure an operation space of the surgical instrument, and tissues in a body cut by the surgery are taken out through the stab card. Because the "poke card" needs to be inserted into the patient's skin, an opening needs to be made in the patient's skin before minimally invasive surgery can be performed. At present, before a doctor performs minimally invasive surgery on a patient, the doctor needs to use a scalpel to open a hole in the surgical site of the patient to establish an operation channel, and the adopted hole opening mode is that the doctor pinches the skin with fingers and uses the scalpel to cut open the skin tissue. Because the doctor manually perforates according to the pre-positioned mark position by experience, the perforating efficiency is low, and the perforating depth and the perforating size are not easy to master.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the specification provides a preoperative tapping instrument of a medical robot, a control method and medical equipment, and aims to solve the problems that in the prior art, manual tapping before minimally invasive surgery is low in efficiency and accuracy.

An embodiment of the present specification provides a preoperative tapping instrument for a medical robot, including: the pneumatic sealing mechanism, the perforating mechanism and the controller are arranged on the base; the pneumatic sealing mechanism is used for being in contact with the skin of a patient to form a sealed chamber between the pneumatic sealing mechanism and the skin of the patient, and is also used for sucking the skin of the patient towards the inside of the sealed chamber by using negative pressure and detecting the sucked degree of the skin of the patient; the tapping mechanism comprises a tapping tool and a driving mechanism, and the front end of the tapping tool is positioned inside the sealed chamber; the controller is used for controlling the driving mechanism to drive the trepanning tool to move towards the skin of the patient when the attracted degree meets a preset condition, so that the front end of the trepanning tool performs preoperative trepanning on the skin of the patient.

The embodiment of the present specification further provides a preoperative tapping control method for a medical robot, based on the preoperative tapping instrument for the medical robot described in the above embodiment, the method includes: determining whether the degree of attraction of the skin of the patient meets a preset condition; under the condition that the attracted degree of the skin of the patient is determined to meet the preset condition, the driving mechanism is controlled to drive the trepanning tool to move towards the skin of the patient, so that the front end of the trepanning tool performs preoperative trepanning on the skin of the patient.

Embodiments of the present disclosure also provide a medical apparatus including a preoperative tapping instrument of a medical robot as described in any of the above embodiments.

In an embodiment of the present specification, a preoperative tapping apparatus for a medical robot is provided, including a pneumatic sealing mechanism, a tapping mechanism and a controller, wherein the pneumatic sealing mechanism may contact with the skin of a patient to form a sealed chamber between the pneumatic sealing mechanism and the skin of the patient, the skin of the patient may be attracted towards the inside of the pneumatic sealing mechanism by using negative pressure, and the attracted degree of the skin of the patient is detected, the tapping mechanism may include a tapping tool and a driving mechanism, the front end of the tapping mechanism may be disposed inside the sealed chamber, and the controller may control the driving mechanism to drive the tapping tool to move towards the skin of the patient when the attracted degree meets a preset condition, so that the front end of the tapping tool performs preoperative tapping on the skin of the patient. In the above-mentioned scheme, a medical robot trompil apparatus before art is provided, present artifical trompil mode can be replaced well to this apparatus, the operator only need with the pneumatic sealing mechanism in the trompil apparatus before art and patient skin contact, after pressing the start-up, can suck up skin through pneumatic sealing mechanism, the doctor holds between the fingers skin among the simulation minimal access surgery, afterwards, after skin is sucked to certain extent, carry out the trompil to patient's skin by controller control trompil mechanism, realize automatic trompil before the minimal access surgery. The poking clamp hole with the ideal size can be formed in the accurate position of the instrument, safety and operation efficiency can be improved, workload of doctors is reduced, and operation experience of patients is improved. Through the scheme, the problems of low efficiency and low accuracy rate of manual hole opening before minimally invasive surgery in the prior art are solved, and the technical effect of effectively improving the surgery efficiency and safety is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification, are incorporated in and constitute a part of this specification, and are not intended to limit the specification. In the drawings:

fig. 1 shows an overall view of components of a pre-operative hole-opening instrument of a medical robot in an embodiment of the present description;

FIG. 2 is a cross-sectional view of the maximum displacement component of the piercing tool in an embodiment of the present disclosure;

FIG. 3 is a sectional view showing the appearance of a tapping tool in an embodiment of the present disclosure;

FIG. 4 is a schematic view of a driving mechanism of the hole forming tool in the embodiment of the present disclosure;

FIG. 5 is a schematic diagram showing a modification of the driving mechanism of the boring tool in the embodiment of the present specification;

FIG. 6 is an overall view of a lead screw drive mechanism in the tapping instrument in an embodiment of the present disclosure;

FIG. 7 illustrates a schematic view of a fenestration instrument drive mechanism in an embodiment of the present description;

FIG. 8 is a flow chart illustrating an algorithm within the tapping instrument in an embodiment of the present description;

fig. 9 shows a schematic view of a skin sensing device in an embodiment of the present description;

FIG. 10 is a schematic diagram of an absolute encoder operating in an embodiment of the present description;

FIG. 11 shows a schematic diagram of a system electrical appliance in an embodiment of the present description;

FIG. 12 illustrates a logic diagram for air pressure sensing of the sealed chamber of the vented instrument in an embodiment of the present disclosure;

FIG. 13 illustrates a flow chart for venting the air chamber of the vented instrument in an embodiment of the present disclosure;

FIG. 14 illustrates a power-on self-test logic diagram for an apertured instrument in accordance with an embodiment of the present disclosure;

FIG. 15 is a flow chart illustrating the use of the surgical robotic automatic hole opening instrument in an embodiment of the present disclosure;

fig. 16 shows a flowchart of a pre-operation hole opening control method for a medical robot in an embodiment of the present description.

Detailed Description

The principles and spirit of the present description will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely to enable those skilled in the art to better understand and to implement the present description, and are not intended to limit the scope of the present description in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

As will be appreciated by one skilled in the art, embodiments of the present description may be embodied as a system, an apparatus, a method, or a computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.

The embodiment of the specification provides a preoperative trepanning instrument for a medical robot. Referring to fig. 1, an overall view of the components of a preoperative tapping instrument is shown in an embodiment of the present disclosure. As shown in fig. 1, in an embodiment of the present description, a medical robotic pre-operative hole opening instrument may include: a pneumatic sealing mechanism 10, a tapping mechanism 20, and a controller 30.

The pneumatic sealing mechanism 10 may be in contact with the patient's skin 40 to form a sealed chamber 50 between the pneumatic sealing mechanism 10 and the patient's skin 40. The pneumatic sealing mechanism 10 may also draw the patient's skin 40 toward the interior of the sealed chamber 50 using negative pressure and measure the degree to which the patient's skin 40 is drawn.

As shown in fig. 1, tapping mechanism 20 may include a tapping tool 201 and a drive mechanism 202. The front end of the tapping tool 201 may be disposed inside the sealed chamber 50. The drive mechanism 202 may be used to drive the aperturing tool 201 to preoperatively aper the patient's skin 40.

The controller 30 may be in communicative connection with the hole opening mechanism 20 and the pneumatic sealing mechanism 10. The controller 30 may control the driving mechanism 202 to drive the opening tool 201 to open the patient's skin 40 preoperatively when the degree of attraction satisfies a preset condition. The controller 30 may be implemented in the form of a single chip MCU.

With continued reference to FIG. 1, in some embodiments of the present description, the pneumatic sealing mechanism 10 may include a housing 101, a suction cup 102, a suction device 103, and a suction level measuring device 104.

Suction cups 102 may be provided at the periphery of the housing 101 to seal after contact with the patient's skin to form a sealed chamber 50 between the housing 101 and the patient's skin 40. Wherein the suction cup 102 may be a viscous suction cup that functions like a sealing ring.

A suction device 103 may be provided in the housing for evacuating the sealed chamber 50 to draw the patient's skin 40 towards the interior of the housing 101.

As shown in FIG. 1, in one embodiment, the air-extracting device 103 may include an electric air pump (or air-extracting pump) 131 and a suction tube 132. An electric air pump 131 may be provided in the pneumatic sealing mechanism in communication with the sealed chamber 50 through a suction tube 132 to draw air from the sealed chamber 50 to create a negative pressure such that the patient's skin is drawn towards the interior of the sealed chamber.

A suction level measuring device 104 may be provided in whole or in part in the sealed chamber 50 to measure the level of suction of the patient's skin 40.

In some embodiments of the present description, the attraction degree measuring device 104 may include an air pressure sensor. The air pressure sensor may measure the air pressure within the sealed chamber 50 to characterize the extent to which the patient's skin 40 is drawn. The controller 30 may control the driving mechanism 202 to drive the hole-forming tool 201 to perform pre-operation hole forming on the skin 40 of the patient when the air pressure value detected by the air pressure sensor is less than or equal to a preset air pressure.

In some embodiments of the present description, the attraction degree measuring device 104 may include a position sensor. The position sensor may measure the distance between the patient's skin 40 and the position sensor to characterize the degree to which the patient's skin 40 is drawn. The controller 30 may control the driving mechanism 202 to drive the opening tool 201 to pre-operatively open the opening of the patient's skin 40 when the distance detected by the position sensor is less than or equal to a preset distance threshold. Wherein the position sensor may be a laser position sensor. The extent to which the skin is attracted can be accurately characterized by the distance measured by the position sensor.

In some embodiments of the present description, the tapping tool 201 is removably coupled to the drive mechanism 202. The detachable chain connection may include, but is not limited to, a snap connection and a threaded attachment.

In one embodiment, the tapping tool can be removed from the drive mechanism and a new tapping tool can be attached to the drive mechanism when the tool is replaced.

In another embodiment, the tapping mechanism may further comprise a cutter changing mechanism, the cutter changing mechanism may connect the driving mechanism to the tapping tool, and when the cutter is changed, the tapping tool may be detached from the cutter changing mechanism and a new tapping tool may be attached to the cutter changing mechanism.

Through dismantling to be connected between trompil mechanism and the actuating mechanism for when the operation hole in different apertures of needs, can through changing the cutter, effectively improve operation efficiency.

With continued reference to fig. 1, the cross-section of the sealing chamber 50 of the pre-operative hole-drilling instrument is a trapezoid, and the hole-drilling tool 201 is centrally installed on the upper surface of the sealing chamber 50. The pumping holes 51 and the air pressure sensors are distributed on the left and right sides of the tapping tool 201 at a mutual difference of 180 degrees. The pre-operative tapping instrument is cylindrical in appearance, with the tapping tool 201 located at the central axis O. Thus, the surgeon need only place the surgical punch instrument at the site of the minimally invasive surgical punch of the patient and engage the patient's skin 40 via the suction cup 102. When the start switch 60 is pressed, the air pump 131 starts operating. Then the patient's skin 40 is sucked up, when the air pressure sensor detects that the air pressure of the air cavity reaches a certain value, the driving mechanism 202 is triggered to eject the hole-opening tool 201 to pierce the patient's skin 40.

Referring to FIG. 2, a cross-sectional view of the components of the piercing tool is shown at maximum displacement. As shown in FIG. 2, the sealed chamber 50 is a sealed space after the suction cup 102 is in contact with the patient's skin 40. Because the air pump 131 continuously pumps air out of the sealed chamber 50, the negative pressure generated in the sealed chamber 50 will suck up the skin 40 of the patient, which is smoother than the current method in which the doctor pinches up the skin of the patient to perform manual opening. Whether the skin is sucked up can be judged by monitoring the air pressure in the sealed cavity or monitoring the distance between the position sensor and the skin, and the driving mechanism 202 is triggered to drive the hole opening tool 201 to move downwards after a certain negative pressure is reached or a certain distance is reached, so that the skin of a patient is pierced to complete the hole opening operation.

In some embodiments of the present disclosure, the piercing tool may be in a spear configuration. The size of the punch tool may be determined based on the size of the medical robot-matched stab card. Referring to FIG. 3, a cross-sectional view of the opening tool is shown. As shown in fig. 3, the front end of the boring tool 201 is provided in a spear shape. With the diameter of the poke card of the minimally invasive surgical robot known, the size of the opening can be roughly determined. Considering that the flesh skin has a certain contractility, the stab card 70 needs to be closely combined with the operation hole 80, and thus the diameter of the operation hole 80 should be slightly smaller than that of the stab card 70. Without considering the effect of the physical skin expansion coefficient, the surgical aperture h is related to the width d of the opening tool by: d ═ pi h/2. The handle 212 of the tapping tool is internally threaded to ensure a tight connection (threaded connection) with the driving mechanism of the instrument. Through adopting the spear shape setting, the sectional view is triangle-shaped down, is favorable to perpendicular trompil and dismantles the convenience, and the tool dimension is high with trompil size relevance.

Referring to fig. 4, a schematic diagram of the tapping tool drive mechanism is shown. As shown in fig. 4, in some embodiments of the present disclosure, the driving mechanism 202 may include a driving rod 221, a top plate 222, a base 223, an electromagnetic coil 224, a first switch (not shown), and a power supply (not shown). The driving rod 221 may have one end connected to the top plate 222 and the other end connected to the boring tool 201. Both the top plate 222 and the base 223 are metallic conductive materials. The tapping tool 201 can be passed through the base into the sealed chamber. The power supply source may be connected to the electromagnetic coil via the first switch. The first switch may be a relay. The controller controls the first switch to be closed when the attracted degree satisfies a preset condition so as to energize the electromagnetic coil by the power supply. The electromagnetic coil 224 is connected to the base 223, and when the electromagnetic coil 224 is powered on, the top plate 222 is attracted to move towards the base 223, so as to drive the hole-forming tool 201 to move towards the skin of the patient, and hole forming is performed before operation. In the above scheme, the tapping tool can be ejected out through electromagnetic force to tap a hole before an operation.

With continued reference to fig. 4, in some embodiments of the present disclosure, the drive mechanism 202 may further include a coil spring 225. The coil spring 225 is installed between the top plate 222 and the base 223 in a compressed energy storage state. In one embodiment, the coil spring 225 may be sleeved around the drive rod 221. When the first switch is turned off, the coil spring 225 may rebound from a compressed energy storage state, thereby automatically resetting the tapping tool 201. For example, the controller may control the first switch to open upon completion of the opening, failure of the opening, or failure of the instrument. Through the mode, the hole opening tool can be automatically reset after hole opening is completed.

When the suction degree measuring device is an air pressure sensor, when the air pressure monitored by the air pressure sensor received by the controller reaches a certain value, the relay is controlled to suck and energize the electromagnetic coil, and due to energization, the electromagnetic coil 10 generates magnetism and can suck and pull the top plate 222 to move downwards. Since the top plate 222 is hard coupled to the driving rod 221, the driving rod 221 is screw-coupled to the boring tool 201. The piercing tool 201 also moves downward to pierce the skin of the patient for piercing.

It is contemplated that the attractive force generated by energizing the solenoid may cause the aperture-forming tool to move too quickly, resulting in a poor patient experience. Thus, in some embodiments herein, the drive mechanism may further comprise a damper disposed between the top plate and the base for providing resistance to movement of the top plate toward the base. In one embodiment, two symmetrical dampers may be provided between the top plate and the base.

Referring to fig. 5, a schematic diagram of a modification of the driving mechanism of the boring tool is shown. The tapping tool actuation mechanism of fig. 4 does not take into account the compliance issues of the tapping tool during downward movement, such as the solenoid 224 being energized to generate a magnetic field when the controller controls the relay to engage. The top plate 222 of the drive mechanism 202 is immediately drawn downward. Therefore, as shown in fig. 5, two dampers 226 can be additionally installed between the top plate 222 and the base 223 to properly improve the rough movement.

The preoperative automatic hole opening instrument of the medical robot in the embodiment has a simple structure and can replace the conventional manual hole opening mode. The doctor only needs to make the sucking disc of automatic trompil apparatus aim at the position that needs the trompil, after guaranteeing that sucking disc and skin contact do not have the mistake, presses "start" button, and the air pump in the automatic trompil apparatus will carry out work, takes out the air of cavity between skin and sucking disc, and skin is sucked up gradually by the sucking disc this moment, and when the inside atmospheric pressure of cavity reached a certain numerical value, automatic trompil apparatus automatic trigger trompil mechanism, and the instantaneous pop-up of perforating sword punctures skin. The size of the hole punching tool in the automatic hole punching instrument can be converted according to the size of a poking card matched with the medical robot.

In this embodiment, the preoperative automatic tapping instrument for the medical robot comprises a machine body, a tapping tool, an actuating mechanism, an electric air pump, a suction cup, a starting switch, a power supply module and other components. The machine body can be cylindrical in appearance, the diameter of the machine body is 10cm, the height of the machine body is about 10cm, and components such as an air pump, a cutter and the like are installed inside the machine body. The sucking disc can be used for the machine to better seal with the skin, forms sealed cavity, and the peripheral skin of trompil is sucked up more easily, makes things convenient for the automatic trompil of machine. The starting switch is used for starting the machine to work, the machine is pumped out and sucks up the skin after the switch is pressed down, and when the air pressure of the cavity reaches a certain value, the opening tool is automatically triggered to puncture the skin. The electric air pump can be used for pumping air to the cavity between the sucking disc and the skin so as to suck the skin. The trepanning tool is used for perforating the skin before operation, the trepanning size depends on the size of the cutter, and the size of the cutter is matched with the size of the minimally invasive operation poking card. The driving mechanism can comprise components such as a trigger buckle and a spring, and the motion of the hole drilling tool can be controlled through the driving mechanism. The power supply module can be used for supplying electric energy, for example, the power supply module supplies power to the electric air pump, the air pressure sensor, the singlechip and other power utilization modules. The air pressure sensor is used for detecting the size of air pressure in a cavity formed by the sucker and the skin. The single chip microcomputer can be used for receiving signals of the gas sensor and has functions of a hole opening tool mechanism and the like.

This trompil apparatus before art can be full-automatic smart machine, and medical personnel only need press the position that the patient needs the trompil of putting of this apparatus after that "start" button, and the trompil equipment begins to bleed and establishes the negative pressure and accomplishes one set of flow all by the machine by oneself to the trompil is accomplished to the trompil to the apparatus has voice prompt function, lets the process that medical personnel can better understanding apparatus carry out the trompil.

Another embodiment for realizing the driving mechanism by a lead screw transmission is described below.

Referring to FIG. 6, an overall diagram of the lead screw drive mechanism in the tapping instrument in an embodiment of the present disclosure is shown. As shown in fig. 6, in some embodiments of the present description, the driving mechanism 202 may include: a lead screw 231, a stepping motor 232, a second switch (not shown in fig. 6), and a driving wheel 233. The lead screw 231 may be coupled to the tapping tool 201. The stepping motor 232 may be connected to the driving wheel 233 via the second switch. The driving wheel 233 is engaged with the lead screw 231. When the attracted degree meets the preset condition, the controller 30 controls the second switch to be closed, so that the driving wheel 233 is rotated by the stepping motor 232, and the driving wheel 233 drives the screw rod 231 to move downwards, thereby driving the hole-opening tool 201 to move towards the skin 40 of the patient.

Fig. 6 differs from fig. 1 in the specific structure of the drive mechanism. As shown in fig. 6, the screw transmission mechanism may include: a stepping motor 232 as a power source for outputting mechanical energy to drive the tapping tool 201 to move up and down; the screw rod 231 is tightly installed with the tapping tool 201 in a threaded mode, and the tapping tool 201 moves through transmission of the screw rod; the driving wheel 233 is hard-connected to the rotation shaft of the stepping motor 232 and engaged with the lead screw 231 to perform a transmission function.

With continued reference to fig. 6, in some embodiments of the present disclosure, the drive mechanism 202 may further include a position sensor 234 and an absolute value encoder 235. The position sensor 234 may be used to measure the distance between the patient's skin 40 and the position sensor 234. The distance between the position sensor 234 and the head of the boring tool 201 may be known. Thus, the controller 30 may derive the distance between the head of the aperture tool 201 and the patient's skin 40 based on the distance between the patient's skin 40 and the position sensor 234 and the distance between the position sensor 234 and the head of the aperture tool 201. With the perforation depth known, the controller can calculate the distance the aperturing tool 201 needs to move toward the patient's skin 40 as the sum of the perforation depth and the distance between the aperturing tool head and the skin. After knowing the distance the tapping tool 201 needs to move, the controller 30 can determine the distance the lead screw 231 needs to move and, in turn, the angle the drive wheel 233 needs to rotate. In the case where the driving wheel 233 is hard-coupled to the stepping motor 232, the controller may determine the angle by which the driving wheel 233 rotates as the angle by which the rotation shaft of the stepping motor 232 needs to rotate. The absolute value encoder 235 may be used to measure the rotor position of the stepper motor 232. The controller 30 can determine the angle of rotation of the rotor from a plurality of rotor positions measured by the absolute encoder 235. When the determined rotation angle of the rotor reaches the rotation angle required for the rotation shaft of the stepping motor 232, the controller 30 controls the second switch to be turned off, so that the stepping motor 232 stops operating. The position sensor 234 may be a laser position sensor. Through the mode, the opening depth of the preoperative opening instrument can be accurately controlled.

Referring to FIG. 7, a schematic view of the apertured instrument drive mechanism is shown. Since the driving wheel 233 and the lead screw 231 are in meshing transmission, and the lead screw pitch is set to a, the driving wheel 233 rotates one turn, and the lead screw 231 moves downward by one pitch a, at this time, the rotating shaft of the stepping motor rotates 360 mechanical degrees. As shown in FIG. 7, the fenestration tool 201 is located a distance D from the patient's skin 40. Assuming that the surgeon inputs the tapping depth m mm to the tapping instrument, the maximum displacement of the tapping tool 201 is m + D, and the driving wheel 233 needs to rotate by 360(m + D)/a. Since the driving wheel 233 is hard-connected to the motor shaft, the mechanical angle that the motor shaft rotates through is also 360(m + D)/a. The controller can calculate the angle of the stepping motor required to rotate, and the stepping motor is adjusted to rotate, so that the screw rod and the tapping tool are driven to move downwards.

Referring to FIG. 8, a flow chart of an algorithm within the tapping instrument is shown. The driving mechanism of the tapping device may use a stepper motor as shown in fig. 6 as the power source and gears and lead screws as the transmission mechanism. As shown in fig. 8, the position sensor may monitor the distance to the skin from the upper top surface of the sealed chamber. This distance parameter can be an important input for the opening depth. An absolute value encoder is arranged on the stepping motor to record the rotation angle of the rotating shaft. The downward displacement of the screw rod (driving rod) can be converted through the rotation angle of the motor, and the actual hole drilling depth can be converted through the displacement and the initial position of the cutter.

The above-described embodiments achieve a target opening depth by means of a position sensor and an absolute value encoder. In consideration of the defects of high cost, high precision and the like of the laser ranging sensor, the skin sensing system can be adopted to replace the laser ranging sensor. In particular, in another embodiment, the puncturing to a target puncturing depth may be achieved by a skin sensing device and an absolute value encoder. In particular, in some embodiments of the present description, the drive mechanism may further comprise a skin sensing device and an absolute value encoder. The skin sensing device may be adapted to detect whether the aperture means is in contact with the skin of the patient. The absolute value encoder is used for measuring the rotor position of the stepping motor.

Referring to fig. 9, a schematic diagram of a skin sensing device is shown. As shown in fig. 9, the skin sensing device can conduct electricity to the driving mechanism through the internal 5V conversion chip, and the electromotive force of the holing tool is 5V because the driving mechanism is connected with the holing tool. The skin is in close contact with the sucking disc, and the sucking disc can be inlaid with a grounding terminal, namely the skin electromotive force is 0. In the tapping stage, when the electromotive force of the tapping tool changes from 5V to 0V, the controller immediately stores the rotor position detected by the absolute value encoder as an initial rotor position when receiving the voltage change. And then, the controller can determine the displacement of the hole opening tool according to the rotor position and the initial rotor position detected by the absolute value encoder in real time. When the displacement of the boring tool is equal to the boring depth, the controller may control the second switch to be turned off, so that the stepping motor stops operating. Through the mode, the opening depth of the preoperative opening instrument can be accurately controlled.

Referring to fig. 10, a diagram of the operating principle of an absolute value encoder is shown. As shown in fig. 10, the absolute encoder may include an emitter 241, an encoded optical disc 242, a mask 243, a photon receiver 244, and a schmitt trigger 245. The encoded optical disc 242 has a plurality of channels of scribe lines, each of which is sequentially arranged by 2 lines, 4 lines, 8 lines and 16 lines … …, so that at each position of the encoder, by reading the on and off of each scribe line, a set of unique 2-ary codes (gray codes) from the zero power of 2 to the n-1 power of 2 is obtained, which is called an n-bit absolute encoder. In operation, a power supply is placed on one side of the coded disc 242, a photon receiver 244 is placed on the other side, and each code channel is provided with a corresponding photo-transistor and an amplifying and shaping circuit. The coded disc 242 is turned to different positions, and the photon receiver 244 receives the optical signal and converts it into corresponding electrical signal, which is amplified and shaped into corresponding digital electrical signal. Every angular position all can transmit only signal, and the motor shaft position just can be known through receiving encoder position signal to the controller, has just also known the real-time position of trompil instrument, conveniently controls the motion of trompil instrument and trompil degree of depth.

In some embodiments herein, the pneumatic sealing mechanism may further comprise an electromagnetic air valve 133, as shown in fig. 1, 2, and 6. The electromagnetic air valve 133 may be used to deflate the sealed chamber 50 after the tapping mechanism 20 completes pre-operative tapping. The electromagnetic air valve 133 may be coupled to the pneumatic sealing mechanism 10. After the trompil is accomplished, the controller can control the electromagnetism air valve and open for outside air gets into sealed cavity, and then makes sucking disc and skin separation, conveniently removes the apparatus behind the disappointing, avoids leading to sucking disc and skin in close contact with because the negative pressure effect. As shown in fig. 1, 2 and 6, an electromagnetic air valve 133 may be provided around the periphery of the suction pipe 132 to open after the completion of the opening to deflate the sealed chamber 50.

In some embodiments of the present description, the medical robotic pre-operative tapping instrument may further include an emergency interrupt switch for interrupting the pre-operative tapping process under control of an operator. Through setting up urgent interrupt switch, can carry out emergency operation under the condition of taking place accident in the trompil process.

In some embodiments of the present description, the medical robotic pre-operative tapping instrument further comprises a stroke detection device comprising a first stroke switch for closing when the tapping tool is reset and a second stroke switch for closing when the tapping tool reaches a maximum displacement. Whether the hole drilling tool resets can be determined through the open-close state of the first travel switch, and whether the hole drilling tool reaches the maximum displacement can be determined through the open-close state of the second travel switch. In one embodiment, one conductive contact may be provided in each of the home position and the maximum position to perform the function of forming a switch. In this embodiment, whether the tapping tool moves to the maximum position and whether the tapping tool returns to the original position is completed through formation of the detection device, and abnormal phenomena such as jamming in the movement process of the tapping tool can be prevented.

Referring to fig. 11, a schematic diagram of the system electronics is shown. As shown in fig. 11, the singlechip inside the tapping instrument supplies power for 12V, and the battery is a rechargeable lithium battery. The system comprises the following electrical devices: an emergency interrupt switch: the system is emergently cut off when the system is abnormal; starting a switch: starting equipment to perform hole opening operation; a travel switch 1: monitoring whether the hole opening tool is reset; a travel switch 2: monitoring whether the drilling tool reaches the lowest end (the stroke is maximum at the moment); a relay 1: controlling whether an electromagnetic coil in the tapping tool driving mechanism is electrified or not; and (4) a relay 2: controlling whether the air pump is electrified to work or not; electromagnetic coil: electrifying to generate a magnetic field to pull the top plate, and moving the hole opening tool downwards; an air pump: pumping air from the air chamber (i.e., the sealed chamber) to the external environment, such that the air chamber is in a negative pressure state; an air solenoid valve: when the power is not on, the air chamber is in a normally closed state, and the air chamber is communicated with the outside by power on to carry out pressure relief operation; an air pressure sensor: the air pressure within the air cavity chamber is monitored. In some embodiments of the present description, the pre-operative opening instrument of the medical robot may further include an air tightness detection device. The air tightness detection device can be used for detecting whether the air tightness of the sealed chamber meets a preset air tightness condition or not under the control of the controller.

In one embodiment, the air-tightness detecting means may compare the measured air pressure value with a programmed value. For example, in the case of a two second evacuation by the evacuation device, the gas pressure is 0.4bar if the sealed chamber is well sealed. And if the difference value between the measured air pressure and the preset air pressure is larger than the preset value, the sealing performance of the sealing chamber is not good. Otherwise, the sealing performance of the sealing chamber is good. After the tightness detection is passed, the controller monitors whether the air pressure in the sealing cavity reaches an air pressure threshold value of the trigger driving mechanism, and if so, the trigger driving mechanism drives the hole opening tool to perform hole opening operation.

Referring to FIG. 12, a logic diagram for air pressure detection of the sealed chamber of the vented instrument in this embodiment is shown. As shown in fig. 12, the tightness check includes the following steps: after the self-checking is completed, the air extracting pump performs air extracting work, the MCU monitors the air pressure in the air cavity chamber constantly through the air pressure sensor at the moment, and the actually measured air pressure value is compared with a value set by a program. For example, the air is pumped by an air pump for 2 seconds, if the air pressure is 0.4bar under the condition that the air cavity is well sealed, and if the deviation of the measured air pressure and 0.4bar exceeds a threshold value, the air cavity is not well sealed. After the tightness detection is passed, the controller monitors whether the air pressure of the air chamber reaches an air pressure threshold value of the trigger driving mechanism, and if the air pressure of the air chamber reaches the air pressure threshold value, the controller triggers the hole opening tool driving mechanism to perform hole opening operation.

Referring to FIG. 13, a flow chart for venting the air chamber of the vented instrument is shown. As shown in fig. 13, the controller monitors that the hole-opening tool has descended through the travel switch, the driving mechanism is controlled to be powered off, the cutter automatically returns due to the energy storage effect of the spring, the travel switch is also installed on the upper top plate at the moment, and the travel switch is closed when the hole-opening tool returns normally. The controller can control the air solenoid valve to open at this moment, loses heart to the air cavity, conveniently removes the apparatus after losing heart, avoids because negative pressure effect sucking disc and skin in close contact with. When air is leaked, the controller judges whether the pressure relief is normal or not according to the relation between the opening time of the air electromagnetic valve and the air pressure measured by the air pressure sensor, if the air pressure in the air chamber is reduced too slowly and other abnormal conditions exist, the voice prompts that the pressure relief of the air chamber is abnormal, and the air electromagnetic valve is suggested to be checked.

In some embodiments of the present description, the medical robotic pre-operative hole opening instrument may further include a device self-inspection device. The device self-checking device is used for checking the functions of the devices in the pre-operation hole opening instrument of the medical robot under the control of the controller. For example, the device may include at least one of: the device comprises a first switch, a second switch, an air pressure sensor, a first travel switch, a second travel switch, an electromagnetic air valve and the like. Under the condition that the device self-checking device detects that the functions of all devices are normal, the controller controls the air exhaust device to exhaust air from the sealed cavity, and then controls the driving mechanism to drive the hole opening tool to perform hole opening operation.

Referring to FIG. 14, a logical diagram of a power-on self-test for an open-hole instrument is shown. As shown in fig. 14, after the start switch is pressed, the device is powered on, the single chip microcomputer MCU (i.e., the controller) performs self-inspection on the electric device, firstly, the states of the travel switch 1 and the travel switch 2 are read, because the travel switch 1 is installed at the initial position of the tapping tool, if the travel switch 1 is not in the closed state, the MCU controls the voice to prompt the user that the self-inspection of the travel switch 1 is abnormal, so that the tapping tool has two reasons, and the tapping tool does not return or the travel switch fails. If the states of the travel switch 1 and the travel switch 2 are normal, then whether the relays of the control electromagnetic coil and the air pump work normally is self-checked, and whether the voltage change exists in the detection line is judged by adopting the pull-in of the control relays. And finally, reading whether the air pressure measured by the air pressure sensor is the set air pressure, and prompting the self-checking abnormity of the air pressure sensor by voice if the difference between the measured value and the threshold value is larger.

In some embodiments of the present description, the pre-operative trepanning instrument of the medical robot further comprises a prompting device for prompting an operator of a currently located trepanning stage, the trepanning stage comprising at least one of: evacuation, start of opening, completion of opening, and failure of opening. The prompting device may be a voice prompting device, a display prompting device, or the like. Through setting up suggestion device, can in time feed back current trompil situation to the operator.

Referring to fig. 15, a flow chart for use of the surgical robotic automatic hole opening instrument is shown. As shown in fig. 15, the use of the automatic tapping apparatus is as follows: when the start button is pressed, the electric air pump is started, and the air pump is used for generating negative pressure between the contact of the adhesive sucker of the automatic hole opening surgical instrument and the skin, so that the hole opening surgical instrument is in close contact with the skin. Whether the air pump works normally or not needs to be checked during the work of the electric air pump, and if the air pump works abnormally, prompt information is sent out and comprises prompt modes such as voice prompt, vibration or indicator light flickering. When the air pump works normally, the adhesive sucker of the automatic tapping surgical instrument is contacted with the skin to generate negative pressure. The air pressure sensor detects the air pressure between the adhesive sucker and the skin, and if the air pressure is less than or equal to a threshold value, the hole opening device is considered to be in close contact with the skin. If the air pressure is larger than the threshold value, the negative pressure abnormality in the air cavity is prompted. If the air pressure is less than or equal to the threshold value, the driving mechanism works, and the hole opening tool is ejected. At this time, the user can be prompted by voice that the hole is being opened. The position sensor detects whether the hole-forming tool is displaced. If not, voice prompt is carried out, and the hole opening is abnormal. If displacement exists, when the opening depth is reached, the electric pump stops working, and the air electromagnetic valve works to eliminate the negative pressure of the air cavity. The air pressure sensor detects whether the air pressure in the air cavity is increased or not, if so, the process is finished, otherwise, the voice prompt is carried out, and the pressure relief in the air cavity is abnormal.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. For details, reference may be made to the description of the related embodiments of the related processing, and details are not repeated herein.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Based on the same inventive concept, embodiments of the present specification further provide a medical apparatus, including the preoperative tapping instrument of the medical robot described in any of the above embodiments. Because the principle of solving the problems of the medical equipment is similar to that of the preoperative tapping instrument of the medical robot, the implementation of the medical equipment can be referred to that of the preoperative tapping instrument of the medical robot, and repeated parts are not described any more.

Based on the same inventive concept, the embodiment of the present specification further provides a preoperative tapping control method for a medical robot, which is based on the preoperative tapping instrument for the medical robot described in any of the above embodiments. Because the principle of the preoperative tapping control method for the medical robot for solving the problems is similar to that of a preoperative tapping instrument of the medical robot, the implementation of the preoperative tapping control method for the medical robot can be referred to that of the preoperative tapping instrument of the medical robot, and repeated parts are not described any more.

Referring to fig. 16, a preoperative tapping control method for a medical robot in an embodiment of the present disclosure is shown. As shown in fig. 16, the pre-operation hole opening control method of the medical robot may include the following steps.

In step S161, it is determined whether the degree of attraction of the skin of the patient satisfies a preset condition.

The method in this embodiment may be applied to a controller in a pre-operative hole-opening instrument of a medical robot. The controller may determine whether the attracted program of the patient's skin satisfies a preset condition.

In one embodiment, the controller may receive a value of air pressure within the sealed chamber detected by the air pressure sensor. It is determined whether the air pressure value is less than or equal to a preset air pressure. And under the condition that the air pressure value is determined to be less than or equal to the preset air pressure, determining that the attracted degree of the skin of the patient meets the preset condition.

In another embodiment, the controller may receive a distance between the position sensor and the patient's skin as detected by the position sensor. It may be determined whether the distance is less than or equal to a preset distance. In the case where it is determined that the distance is less than or equal to the preset distance, it is determined that the degree of attraction of the skin of the patient satisfies the preset condition.

And step S162, under the condition that the attracted degree of the skin of the patient is determined to meet the preset condition, controlling a driving mechanism to drive the trepanning tool to move towards the skin of the patient, so that the front end of the trepanning tool trepans the skin of the patient before operation.

In the case where it is determined that the degree of attraction of the skin of the patient satisfies the preset condition, the controller may control the driving mechanism to drive the holing tool to move toward the skin of the patient so that the front end of the holing tool performs preoperative holing on the skin of the patient. The drive mechanism may take the configuration shown in fig. 1 or fig. 6. Correspondingly, the controller can control the relay to be attracted under the condition that the skin is attracted by the degree and meets the preset conditions, and the electromagnetic coil is electrified to attract the top plate, or the stepping motor is electrified to rotate the screw rod, so that the hole opening tool is driven to move towards the skin of the patient, and the front end of the hole opening tool is used for opening holes on the skin of the patient before the operation.

To control the perforation depth, in some embodiments of the present description, controlling the drive mechanism to drive the perforation tool to move toward the skin of the patient such that the leading end of the perforation tool performs preoperative perforation of the skin of the patient may include: acquiring the target opening depth, a first initial distance and a second initial distance; the first initial distance is the distance between the skin of the patient and the position sensor when the attracted degree of the skin of the patient meets a preset condition; the second initial distance is a distance between the position sensor and a front end of the boring tool; determining a target distance that the aperture tool needs to move toward the patient's skin based on the target aperture depth, the first initial distance, and the second initial distance; determining a target angle of the driving wheel needing to rotate according to the target distance; and controlling the driving wheel to rotate by the target angle in a first direction to drive the hole opening tool to move towards the skin of the patient by the target distance, so that the front end of the hole opening tool performs preoperative hole opening on the skin of the patient. Wherein the target distance may be the first initial distance minus the second initial distance plus the target opening depth. And dividing the target distance by the screw pitch of the screw rod to obtain a target angle of the driving wheel required to rotate. Wherein, the first direction is clockwise or anticlockwise. The aperturing tool moves beyond the skin of the patient when the drive wheel rotates in a first direction.

In some embodiments of the present description, the method may further comprise: after pre-operative tapping is completed, controlling the driving wheel to rotate in a second direction by the target angle to drive the tapping tool to move away from the skin of the patient by the target distance, so that the tapping tool is reset; the first direction is opposite to the second direction. After the tapping is completed, the drive wheel may be controlled to rotate in a second direction opposite the first direction by the target angle, such that the tapping tool is reset. Wherein, the first direction is clockwise, then the second direction anticlockwise. The first direction is counterclockwise, and the second direction is clockwise.

In some embodiments of the present description, controlling the drive mechanism to drive the aperturing tool to move toward the patient's skin such that a leading end of the aperturing tool pre-operatively apertures the patient's skin comprises: acquiring the target opening depth; controlling a rotor of the stepping motor to rotate to drive a driving wheel to rotate along a first direction; receiving notification information sent by the skin sensing device in the process of controlling the rotor of the stepping motor to rotate so as to drive the driving wheel to rotate in the first direction; wherein the notification information carries the contact time of the tapping tool and the skin of the patient; acquiring an initial rotor position of the stepping motor corresponding to the contact time measured by an absolute value encoder; determining a target rotor position according to the target opening depth and the initial rotor position; and when the rotor of the stepping motor is positioned at the target rotor position, controlling the stepping motor to stop working.

The controller may capture the initial position of the rotor at the moment the aperturing tool just contacted the skin. And then, converting the current drilling depth according to the current position of the rotor, and controlling the stepping motor to stop working when the current drilling depth is the target drilling depth.

In some embodiments of the present description, the controller may also obtain a home position of the rotor when the drive mechanism is not activated. After pre-operative drilling is complete, the drive wheel may be controlled to rotate in the second direction until the rotor position returns to the original position, indicating that the tapping tool is reset.

From the above description, it can be seen that the embodiments of the present specification achieve the following technical effects: the utility model provides a medical robot trompil apparatus before art, this apparatus can replace present artifical trompil mode well, the operator only need with the pneumatic sealing mechanism in the trompil apparatus before art and patient skin contact, after pressing the start-up, can suck up the skin through pneumatic sealing mechanism, the doctor holds between the fingers the skin among the simulation minimal access surgery, afterwards, after the skin is sucked to certain degree, carry out the trompil to patient's skin by controller control trompil mechanism, realize automatic trompil before the minimal access surgery. The poking clamp hole with the ideal size can be formed in the accurate position of the instrument, safety and operation efficiency can be improved, workload of doctors is reduced, and operation experience of patients is improved. Through the scheme, the problems of low efficiency and low accuracy of manual hole opening before minimally invasive surgery in the prior art are solved, and the technical effect of effectively improving the efficiency and safety of the surgery is achieved.

It will be apparent to those skilled in the art that the modules or steps of the embodiments of the present specification described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed over a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different from that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, embodiments of the present description are not limited to any specific combination of hardware and software.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the description should, therefore, be determined not with reference to the above description, but instead should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

The above description is only a preferred embodiment of the present disclosure, and is not intended to limit the present disclosure, and various modifications and changes may be made to the embodiment of the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

Claims

1. A medical robotic preoperative tapping instrument, comprising: the pneumatic sealing mechanism, the perforating mechanism and the controller are arranged on the base;

the pneumatic sealing mechanism is used for being in contact with the skin of a patient to form a sealed chamber between the pneumatic sealing mechanism and the skin of the patient, and is also used for sucking the skin of the patient towards the inside of the sealed chamber by using negative pressure and detecting the sucked degree of the skin of the patient;

the tapping mechanism comprises a tapping tool and a driving mechanism, and the front end of the tapping tool is positioned inside the sealed chamber;

the controller is used for controlling the driving mechanism to drive the trepanning tool to move towards the skin of the patient when the attracted degree meets a preset condition, so that the front end of the trepanning tool performs preoperative trepanning on the skin of the patient.

2. The medical robotic pre-operative hole opening instrument of claim 1, wherein the pneumatic sealing mechanism comprises a housing, a suction cup, a suction device, and a suction level measuring device;

the suction cup is arranged on the periphery of the shell and is used for sealing with the skin of a patient so as to form a sealed chamber between the shell and the skin of the patient;

the air exhaust device is arranged in the shell and used for exhausting the sealed chamber so as to suck the skin of the patient to the inside of the shell;

the suction degree measuring device is provided in the sealed chamber for measuring the degree of suction of the patient's skin.

3. The medical robotic pre-operative hole opening instrument of claim 2, wherein the attraction measuring device includes a pneumatic pressure sensor; the air pressure sensor is used for measuring an air pressure value in the sealed cavity;

the controller is used for controlling the driving mechanism to drive the hole opening tool to move towards the skin of the patient when the air pressure value is smaller than or equal to a preset air pressure threshold value.

4. The medical robotic pre-operative hole opening instrument of claim 2, wherein the attraction measuring device includes a position sensor for measuring a distance between a patient's skin and the position sensor;

the controller is used for controlling the driving mechanism to drive the hole opening tool to open holes on the skin of the patient before the operation when the distance is smaller than or equal to a preset distance threshold value.

5. The medical robotic pre-operative hole opening instrument of claim 1, wherein the drive rod is removably connected with the hole opening tool.

6. The medical robotic pre-operative hole opening instrument of claim 1, wherein the drive mechanism comprises a drive rod, a top plate, a base, a solenoid coil, a first switch, and a power supply;

one end of the driving rod is connected with the top plate, the other end of the driving rod is connected with the hole forming tool, and the hole forming tool penetrates through the base to enter the sealed chamber;

the power supply source is connected to the electromagnetic coil via the first switch; the controller controls the first switch to be closed when the attracted degree meets a preset condition so as to electrify the electromagnetic coil through the power supply;

the electromagnetic coil is connected with the base, and when the electromagnetic coil is electrified, the top plate is attracted to move towards the base, so that the hole opening tool is driven to move towards the skin of a patient.

7. The medical robotic pre-operative hole opening instrument of claim 6, wherein the drive mechanism further comprises a coil spring; the spiral spring is arranged between the top plate and the base and is in a compressed energy storage state; the spiral spring is used for resetting the hole drilling tool when the first switch is switched off.

8. The medical robotic pre-operative hole opening instrument of claim 6, wherein the drive mechanism further comprises a damper disposed between the top plate and the base for providing resistance to movement of the top plate toward the base.

9. The medical robotic pre-operative hole opening instrument of claim 1, wherein the drive mechanism comprises: the screw rod, the stepping motor, the second switch and the driving wheel;

the screw rod is connected with the tapping tool; the stepping motor is connected with the driving wheel through the second switch; the driving wheel is meshed with the screw rod;

the controller is in when the degree of being attracted satisfies preset condition control the second switch is closed, in order to pass through step motor drive the drive wheel rotates, drive when the drive wheel rotates the lead screw moves towards patient's skin, and then drives the trompil instrument moves towards patient's skin.

10. The medical robotic pre-operative hole opening instrument of claim 9, wherein the drive mechanism further comprises a position sensor and an absolute value encoder;

the position sensor is used for measuring the distance between the skin of the patient and the position sensor;

the absolute value encoder is used for measuring the position of the rotor of the stepping motor.

11. The medical robotic pre-operative tapping instrument of claim 9, wherein the drive mechanism further comprises a skin sensing device and an absolute value encoder;

the skin sensing device is used for detecting whether the hole opening tool is in contact with the skin of the patient;

12. A preoperative tapping control method for a medical robot, based on the medical robot preoperative tapping instrument of any one of claims 1 to 11, the method comprising:

determining whether the degree of attraction of the skin of the patient meets a preset condition;

under the condition that the attracted degree of the skin of the patient is determined to meet the preset condition, the driving mechanism is controlled to drive the trepanning tool to move towards the skin of the patient, so that the front end of the trepanning tool performs preoperative trepanning on the skin of the patient.

13. The method of claim 12, wherein controlling the drive mechanism to drive the aperturing tool toward the patient's skin such that a leading end of the aperturing tool preoperatively apers the patient's skin comprises:

acquiring the target opening depth, a first initial distance and a second initial distance; the first initial distance is the distance between the skin of the patient and the position sensor when the attracted degree of the skin of the patient meets a preset condition; the second initial distance is a distance between the position sensor and a front end of the boring tool;

determining a target distance that the aperture tool needs to move toward the patient's skin based on the target aperture depth, the first initial distance, and the second initial distance;

determining a target angle of the driving wheel needing to rotate according to the target distance;

and controlling the driving wheel to rotate by the target angle in a first direction to drive the hole opening tool to move towards the skin of the patient by the target distance, so that the front end of the hole opening tool performs preoperative hole opening on the skin of the patient.

14. The method of claim 13, further comprising:

after pre-operative tapping is completed, controlling the driving wheel to rotate in a second direction by the target angle to drive the tapping tool to move away from the skin of the patient by the target distance, so that the tapping tool is reset; the first direction is opposite to the second direction.

15. The method of claim 12, wherein controlling the drive mechanism to drive the aperturing tool toward the patient's skin such that a leading end of the aperturing tool preoperatively apers the patient's skin comprises:

acquiring the target opening depth; controlling a rotor of the stepping motor to rotate to drive a driving wheel to rotate along a first direction;

receiving notification information sent by the skin sensing device in the process of controlling the rotor of the stepping motor to rotate so as to drive the driving wheel to rotate in the first direction; wherein the notification information carries the contact time of the tapping tool and the skin of the patient;

acquiring an initial rotor position of the stepping motor corresponding to the contact time measured by an absolute value encoder;

determining a target rotor position according to the target opening depth and the initial rotor position;

and when the rotor of the stepping motor is positioned at the target rotor position, controlling the stepping motor to stop working.

16. A medical device comprising the medical robotic pre-operative hole opening instrument of any one of claims 1-11.