CN116725677A

CN116725677A - Power device, surgical robot, and joining method

Info

Publication number: CN116725677A
Application number: CN202210212330.1A
Authority: CN
Inventors: 刘放; 林民才; 孙强; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2023-09-12

Abstract

The invention provides a power device of a surgical robot, the surgical robot, a jointing method and a detecting method, wherein the power device comprises the following components: the controller rotates the rotating member until the target point part is detected by the second detecting part before the driving input interface is installed, and rotates the rotating member in a preset mode to enable the rotating member to move to a preset position along the axial direction of the rotating member according to the detection result of the first detecting part when the detected part of the rotating member is positioned at one side opposite to the surgical instrument relative to the preset position. By adopting the first detection part to detect the axial position of the rotating part for outputting torque, the driving coupling state of the power device can be accurately judged according to the detection result of the first detection part after the surgical instrument is installed, so that the expected action can be accurately executed according to the instruction of a doctor, and the surgical risk caused by unexpected swing of the instrument joint is avoided.

Description

Power device, surgical robot, and joining method

Technical Field

The invention relates to the technical field of medical instruments, in particular to a power device, a surgical robot and a jointing method.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the development of minimally invasive surgery and artificial intelligence, the surgical robot has the advantages of capability of performing complex surgery, high stability of surgical results, accurate operation, less bleeding, less postoperative complications and the like, and the robot-assisted minimally invasive surgery gradually becomes one of the development trends of minimally invasive surgery.

The current minimally invasive surgery robot can control the corresponding power device to work according to the operation of doctors, and drive corresponding surgical instruments to act, so that corresponding surgery operation is performed. However, considering the need for sterilization of the surgical instrument, the surgical instrument is typically removably mounted to the main body portion of the apparatus in which the power unit is located, with the surgical instrument receiving the torque of the power unit. In the existing surgical robot installation process, after the surgical instrument or the sterile adapter is installed, only the rotation angle of the motor can be determined by adopting an encoder and other modes, and whether the surgical instrument or the sterile adapter is in a coupled state with the power device cannot be judged, so that the surgical instrument cannot accurately complete preset actions according to the operation of a doctor, and the operation risk can be brought about by unexpected swinging of the instrument joint caused by the self-checking process in the uncoupled state of the surgical instrument.

Disclosure of Invention

In view of the shortcomings of the prior art, the invention provides a power device, a surgical robot and a joining method, which can accurately identify the driving joining state of the power device and a surgical instrument so as to accurately execute instructions of a doctor and avoid unexpected swinging of an instrument joint.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

a power plant for a surgical robot, comprising:

a first housing;

a rotating member rotatably disposed on the first housing and including an axial coupling end;

an axial bias configured to provide a resilient bias for the rotating member toward a surgical instrument;

a first detecting member configured to detect a position of the rotating member in an axial direction thereof;

a controller configured to:

when the detected portion of the rotating member is located on a side facing away from the surgical instrument with respect to a preset position, it is determined that the drive input interface is not coupled with the coupling end portion of the rotating member, the drive input interface being configured to provide torque to the surgical instrument.

As one embodiment, the drive input interface comprises a first input disc provided on the surgical instrument, the first input disc and the rotating member being coupled by mating of female and male features facing each other end surfaces;

The controller is configured to:

after the surgical instrument is installed in the power device, whether the first input disc is coupled with the rotating member is judged according to the detection result of the first detection part.

As one embodiment, the power device further comprises a switching assembly, wherein the switching assembly comprises a second shell detachably mounted on the first shell and a second input disc rotatably arranged on the second shell;

the drive input interface includes the second input disc coupled with the rotating member by mating of female and male features of the end faces toward each other to transfer torque between the rotating member and a surgical instrument;

the controller is configured to:

after the second housing is mounted to the power device, it is determined whether the second input disc is coupled with the rotating member according to a detection result of the first detection member.

As one of the embodiments, the second input disc is coupled with a first input disc provided on a surgical instrument by the cooperation of concave and convex features of end faces facing each other, the second input disc having a degree of freedom in an axial direction of the second housing;

The controller is configured to:

after the second input disc is coupled with the rotating piece and the surgical instrument is mounted on the power device, whether the first input disc is coupled with the second input disc is judged according to the detection result of the first detection part.

As one embodiment, the detection end of the first detection member is disposed on a side facing away from the surgical instrument with respect to the rotating member, and a space is provided between the detection end of the first detection member and the rotating member in an axial direction of the rotating member.

As one embodiment, the first detecting means is configured to detect whether a detected portion of the rotating member is sensed; the controller is configured to: when the first detection part senses the detected part of the rotating piece, the driving input interface is judged not to be coupled with the rotating piece.

As one embodiment, the first detecting means is configured to detect a distance between the first detecting means and the detected portion; the controller is configured to: when the first detection part detects that the distance between the first detection part and the rotating piece is smaller than a preset distance, the driving input interface is judged not to be coupled with the rotating piece.

As one embodiment, the power device further comprises a first signal terminal arranged on the first shell;

the controller is configured to:

and judging that the driving input interface is installed in the power device according to the signal that the first signal terminal is conducted with the signal terminal of the driving input interface.

As one embodiment, the power device further comprises an adapter assembly configured to transfer torque between the rotating member and a surgical instrument, the adapter assembly comprising a second signal terminal;

the controller is configured to: determining that the switching component is mounted to the first shell according to a signal that the second signal terminal is conducted with the first signal terminal; and/or after the switching assembly is mounted on the first shell, judging that the surgical instrument is mounted on the switching assembly according to a signal that the third signal terminal of the surgical instrument is conducted with the first signal terminal.

As one embodiment, the power device further comprises a second detection component, and the rotating piece is provided with a target point part;

the controller is configured to:

and when the target point part rotates along with the rotating piece to be detected by the second detection part, judging that the rotating piece rotates to a zero position.

As one embodiment, the power device further comprises an adapter assembly removably mounted to the first housing, the adapter assembly configured to transfer torque between the rotating member and a surgical instrument;

the controller is configured to:

and after the switching assembly is mounted on the first shell, and the first detection part detects that the switching assembly is in driving engagement with the rotating piece, the rotating piece is controlled to rotate until the target point part is detected by the second detection part.

As one embodiment, the power device further comprises an adapter assembly comprising a second input disc, the surgical instrument comprising a first input disc coupleable with the rotating member via the second input disc;

the controller is configured to:

after the second input disc is mounted on the rotating member and is not coupled with the rotating member, controlling the rotating member to rotate in a preset first mode, and interrupting the preset rotation of the rotating member when the rotating member rotates to be coupled with the second input disc; and/or the number of the groups of groups,

and when the rotating piece is coupled with the second input disc, the first input disc is arranged on the second input disc, and is not coupled with the rotating piece, the rotating piece is controlled to rotate in a preset second mode, and when the rotating piece rotates to be coupled with the first input disc, the preset rotation of the rotating piece is interrupted.

As one embodiment, the rotating members include a first rotating member and a second rotating member, each of which corresponds to a second input disc and a first input disc, respectively;

the controller is configured to:

when the first rotating member is coupled with one second input disc and the corresponding first input disc is not coupled with the first rotating member after being mounted on the corresponding second input disc, controlling the first rotating member to rotate according to a preset third mode, and when the first rotating member rotates to be coupled with the corresponding first input disc, interrupting the preset rotation of the first rotating member and controlling the first rotating member to rotate to the target point part to be detected by the second detecting part;

when the second rotating member is coupled with another second input disc and the corresponding first input disc is not coupled with the second rotating member after being mounted on the corresponding second input disc, the second rotating member is controlled to rotate according to a preset fourth mode, when the second rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled to rotate until the target point part is located in a preset angle interval.

As one embodiment, the rotating members include a first rotating member and a second rotating member, each of which corresponds to one of the second input disc and the first input disc, respectively;

the controller is configured to:

when the first rotating member is coupled with one second input disc and the corresponding first input disc is not coupled with the first rotating member after being mounted on the corresponding second input disc, controlling the first rotating member to rotate according to a preset third mode, and when the first rotating member rotates to be coupled with the corresponding first input disc, interrupting the preset rotation of the first rotating member and stopping rotating the first rotating member;

when the second rotating member is coupled with another second input disc and the corresponding first input disc is not coupled with the second rotating member after being mounted on the corresponding second input disc, the second rotating member is controlled to rotate according to a preset fourth mode, when the second rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the second rotating member is interrupted, and the target point part of the second rotating member is controlled to rotate to be within a preset angle interval.

As one embodiment, the first mode and the second mode both comprise forward rotation and backward rotation for scanning, the angle of unidirectional scanning in the first mode does not exceed a first angle threshold, the angle of unidirectional scanning in the second mode does not exceed a second angle threshold, and the first angle threshold is larger than the second angle threshold.

As one embodiment, the power device further comprises an indicating device, the first shell is provided with a first signal terminal, the switching assembly comprises a second signal terminal, the surgical instrument comprises a third signal terminal, and the indicating device is arranged on the switching assembly and is electrically connected with the second signal terminal;

the second signal terminal is capable of communicating with the first signal terminal after the adapter assembly is mounted to the first housing and with the third signal terminal after a surgical instrument is mounted to the adapter assembly;

the controller is configured to:

after the switching assembly is mounted on the first shell and/or the surgical instrument is mounted on the switching assembly, the indication state of the indication device is switched according to the detection result of the first detection component.

It is a further object of the present invention to provide a surgical robot comprising a surgical instrument and any of the above power devices, the surgical instrument being configured to perform a corresponding action upon actuation of the power device.

It is still another object of the present invention to provide a method of detecting an engaged state of a power unit of a surgical robot, the power unit including:

A rotating member including an axial coupling end;

a first detection part configured to detect a position of the rotating member in an axial direction thereof;

the method comprises the following steps:

judging whether a drive input interface is coupled with the rotating member according to the detection result of the first detection part, wherein the drive input interface is configured to provide torque for a surgical instrument when coupled with the rotating member so as to enable the deformation amount of the axial biasing member to be increased;

and when the detected part of the rotating piece is positioned at one side opposite to the surgical instrument relative to the preset position, the driving input interface is judged not to be coupled with the rotating piece.

the method comprises the following steps:

As one embodiment, the power device further comprises an adapter assembly comprising a second input disc having axial and circumferential degrees of freedom, the second input disc and the rotating member being coupled by mating of female and male features facing each other, a first input disc provided on a surgical instrument being coupled by mating of female and male features facing each other;

the method comprises the following steps:

after the switching component is mounted on the power device, judging whether the second input disc is coupled with the rotating piece according to the detection result of the first detection component;

after the second input disc is coupled with the rotating piece and the surgical instrument is mounted on the switching assembly, whether the first input disc is coupled with the second input disc or not is judged according to the detection result of the first detection part.

As one embodiment, the first detecting means is configured to detect whether a detected portion of the rotating member is sensed;

the method comprises the following steps: when the first detection part senses the detected part of the rotating piece, the driving input interface is judged not to be coupled with the rotating piece.

As one embodiment, the first detecting means is configured to detect a distance between the first detecting means and the detected portion;

the method comprises the following steps: when the first detection part detects that the distance between the first detection part and the rotating piece is smaller than a preset distance, the driving input interface is judged not to be coupled with the rotating piece.

As one embodiment, the power device further comprises a first signal terminal;

the method comprises the following steps: and judging that the driving input interface is installed in the power device according to the signal that the first signal terminal is conducted with the signal terminal of the driving input interface.

the method comprises the following steps: determining that the switching component is mounted to the power device according to the signal that the second signal terminal is conducted with the first signal terminal; and/or after the switching component is mounted on the power device, judging that the surgical instrument is mounted on the switching component according to the signal that the third signal terminal of the surgical instrument is conducted with the first signal terminal.

As one embodiment, the power device further comprises an indicating device and a first signal terminal, the switching assembly comprises a second signal terminal, the surgical instrument comprises a third signal terminal, and the indicating device is arranged on the switching assembly and is electrically connected with the second signal terminal;

the second signal terminal can be in communication with the first signal terminal after the adapter assembly is mounted to the power device and can be in communication with the third signal terminal after a surgical instrument is mounted to the adapter assembly;

the method comprises the following steps:

and after the switching assembly is mounted on the power device and/or the surgical instrument is mounted on the switching assembly, the indication state of the indication device is switched according to the detection result of the first detection component.

Still another object of the present invention is to provide a method for coupling a power unit of a surgical robot, including:

detecting the position of a rotating member of a power device in the axial direction of the rotating member after a drive input interface is mounted to a coupling end of the rotating member; wherein the drive input interface is configured to provide torque to the surgical instrument, the rotating member is in elastic abutment with the drive input interface under the action of an axial biasing member, the axial biasing member is configured to provide elastic biasing to the rotating member toward the surgical instrument, and the deformation becomes larger when the drive input interface providing torque to the surgical instrument is coupled to the rotating member;

And when the detected part of the rotating piece is positioned at one side opposite to the surgical instrument relative to the preset position, the rotating piece is rotated forward and/or backward in a preset mode so as to enable the rotating piece to move to the preset position along the axial direction of the rotating piece.

As one embodiment, the drive input interface comprises a first input disc provided on the surgical instrument, the first input disc and the rotating member being coupled by mating of female and male features facing each other.

the bonding method includes:

mounting the adapter assembly to the power plant;

detecting the position of the rotating member in the axial direction thereof;

rotating the rotating member in a preset first mode in a forward and/or reverse direction when the detected part of the rotating member is positioned at one side opposite to the surgical instrument relative to the preset position, so that the rotating member moves to the preset position along the axial direction of the rotating member;

Mounting a surgical instrument to the adapter assembly;

detecting the position of the rotating member in the axial direction thereof;

and when the detected part of the rotating piece is positioned at one side opposite to the surgical instrument relative to the preset position, the rotating piece is rotated in the forward direction and/or the reverse direction according to a preset second mode so as to enable the rotating piece to move to the preset position along the axial direction of the rotating piece.

the bonding method includes:

before the drive input interface is mounted to the coupling end of the rotating member of the power plant, the rotating member is rotated until the target point is detected by the second detecting member.

As one embodiment, the bonding method further includes:

after rotating the rotating member in a preset first manner, interrupting the preset rotation of the rotating member when the rotating member moves to the preset position in the axial direction of the rotating member; and/or the number of the groups of groups,

after rotating the rotating member in a preset second manner, the preset rotation of the rotating member is interrupted when the rotating member moves to the preset position in the axial direction thereof.

The rotating parts comprise a first rotating part and a second rotating part, and each rotating part corresponds to one second input disc and one first input disc respectively;

the bonding method includes:

It is still another object of the present invention to provide a control method of a surgical robot including an operation part and a slave operation device including:

A plurality of rotating members, each rotating member including an axial coupling end;

a plurality of axial biasing members, each axial biasing member configured to provide a resilient bias for the rotating member toward the surgical instrument and to deform more when a drive input interface providing torque for the surgical instrument is coupled with the coupling end;

a plurality of first detecting members each configured to detect a position of one of the rotating members in an axial direction thereof;

the control method comprises the following steps:

judging whether a driving input interface is coupled with the rotating piece according to the detection result of the first detection component;

when all the drive input interfaces of the surgical instrument are coupled with the corresponding rotating parts of the power device, the gesture of the operation part is aligned with the gesture of the slave operation device.

when all the driving input interfaces of the surgical instrument are coupled with the corresponding rotating parts of the power device, before the gesture of the operation part is aligned with the gesture of the slave operation device, the control method further comprises:

Detecting whether the target point part of the second rotating piece rotates to a preset angle interval or not;

and when the target point part of the second rotating part rotates to be within a preset angle interval, aligning the gesture of the operating part with the gesture of the slave operating device, and otherwise, not executing the gesture alignment step.

The power device provided by the invention adopts the first detection part to detect the position of the rotating piece configured to output torque in the axial direction, so that the driving coupling state of the power device can be accurately judged according to the detection result of the first detection part after the surgical instrument is installed, and the expected action can be accurately executed according to the instruction of a doctor, thereby avoiding the surgical risk caused by unexpected swinging of the instrument joint.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a surgical robot according to embodiment 1 of the present invention;

FIG. 2 is a schematic view of a surgical instrument according to embodiment 1 of the present invention;

FIG. 3 is a schematic view showing a partial structure of a surgical instrument according to embodiment 1 of the present invention;

FIG. 4A is a schematic view showing the internal structure of a power unit in a coupled state of a surgical instrument according to embodiment 1 of the present invention;

FIG. 4B is a schematic view showing the internal structure of the power unit in a non-coupled state of the surgical instrument according to embodiment 1 of the present invention;

FIG. 4C is a schematic view showing the internal structure of a power device with tension springs for the axial biasing element according to another embodiment 1 of the present invention;

FIG. 5A is a schematic diagram of a power unit according to embodiment 1 of the present invention;

FIG. 5B is a schematic diagram of another power unit according to embodiment 1 of the present invention;

FIG. 6A is an exploded view of a power plant with adapter assembly according to embodiment 1 of the present invention;

FIG. 6B is a partial cross-sectional view of a transfer assembly according to embodiment 1 of the present invention;

fig. 7 is a schematic structural diagram of a switching assembly according to embodiment 1 of the present invention;

FIG. 8 is a schematic view of a coupling state of a surgical instrument without an adapter assembly according to embodiment 1 of the present invention;

FIG. 9 is a schematic view of a part of another adapter assembly according to embodiment 1 of the present invention;

Fig. 10 is a flowchart showing a method of detecting an engagement state of a power device of a surgical robot according to embodiment 2 of the present invention;

fig. 11 is a flowchart showing a method of engaging a power unit of a surgical robot according to embodiment 3 of the present invention;

FIG. 12 shows a block diagram of a computing device of embodiment 4 of the invention;

fig. 13 is a flowchart showing a control method of a surgical robot according to embodiment 5 of the present invention;

reference numerals illustrate:

1-a main operation table; 2-slave operating device; 3-memory; 4-a processor; 21-a mechanical arm; 22-sleeve; 10-rotating member; 10A-a first rotating member; 10B-a second rotating member; 10S-a coupling end; 20-an axial bias; 30-a first detection component; 40-a controller; 50-driving an input interface; 51-a first input disc; 52-a second input disc; 60-a second detection component; 100-power plant; 100 a-a first housing; 200-surgical instrument; 210-long axis; 211-end effector; 212-an instrument drive; 213-instrument housing; 300-an adapter assembly; 300 a-a second housing; 301-indicating means; 302-axial vibration member; 600-axial movement gap; 3001-upper housing; 3002-lower housing; 3011-a receiving chamber; a-a first angle threshold; b-a second angle threshold; p1-a first signal terminal; p2-a second signal terminal; p3-a third signal terminal; t-target portion.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.

It will be understood that when an element is referred to as being "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," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal," "proximal," and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The following detailed description will be given with reference to the accompanying drawings.

As shown in fig. 1 and 2, the surgical robot includes a master console 1 and a slave operating device 2. Wherein the master console 1 includes an operation section 1a, and a user controls the movement of the slave operation device 200 through the operation section 1a, thereby transmitting a control command to the slave operation device 2 to control the slave operation device 2, which can also be used to display an image acquired from the slave operation device 2. The slave operation device 2 is used for responding to the control command sent by the master operation panel 1 and performing corresponding operation, and the slave operation device 2 can also be used for acquiring in-vivo images.

The slave manipulator 2 may include a robotic arm 21, a power unit 100 disposed on the robotic arm 21, a surgical instrument 200 disposed on the power unit 100, and a cannula 22 sleeved on a long axis 210 of the surgical instrument 200. The robotic arm 21 is used to adjust the position of the surgical instrument 200; the power device 100 is used to drive the surgical instrument 200 to perform a corresponding operation. It will be appreciated that the embodiments of the present invention are not limited to master-slave surgical robots, and that the surgical robots may be configured to integrate the operating functions into the slave operating devices without distinguishing between the master and slave devices.

The surgical instrument 200 generally includes a long shaft 210, an end effector 211, and an instrument drive 212, with the end effector 211 of the surgical instrument 200 being configured to extend into the body and perform a surgical procedure and/or acquire in-vivo images via its distally located end instrument. The long shaft 210 of the surgical instrument 200 is disposed through the cannula 22 with the end effector 211 extending out of the cannula 22 and being driven by the power unit 100 to perform its operation. The region of the surgical instrument 200 where the long axis 210 is located within the cannula 22 may be configured as a rigid region or a flexible region, as desired, and the cannula 22 may be omitted.

The slave manipulator 2 may include one or more mechanical arms 21, one mechanical arm 21 may have one or more power units 100 disposed thereon, and one power unit 100 may have one or more surgical instruments 200 mounted thereon.

A surgical instrument 200 may be docked with a power plant 100 on a robotic arm 21 having only one surgical instrument 200, providing the surgical instrument 200 with a driving force to perform the associated operation; multiple surgical instruments 200 may be powered by one power unit 100 simultaneously interfacing with multiple different surgical instruments 200 on a robotic arm 21 having multiple surgical instruments 200.

As shown in fig. 3, to achieve a plurality of different surgical operations of the surgical instruments 200, each surgical instrument 200 includes a plurality of first input discs 51, e.g., 51A-51F, each power unit 100 for interfacing therewith also has a plurality of rotary members 10, the rotary members 10 being driven by motors to rotate, and when the surgical instrument 200 is drivingly coupled to the corresponding power unit 100, the different first input discs 51 are drivingly coupled to the different rotary members 10 to achieve torque transmission. Depending on the end effector 211, the power device 100 drives the end effector 211 to perform the associated surgical procedure. Fig. 3 illustrates a case where surgical instrument 200 includes six first input discs 51A-51F, which may be other numbers in other embodiments. The surgical operation may include controlling the distal end of the shaft 210 to yaw, rotate, pitch, etc., and the end effector 211 may be a forceps, cautery device, cutting device, imaging device, etc.

The first input discs 51 are disposed within the instrument housing 213, the proximal ends of the first input discs 51 being rotatably coupled to the instrument drive 212, the distal ends of the first input discs 51 being exposed to the instrument housing 213 and configured to receive drive inputs from the power unit 100 to actuate the end effector 211, each first input disc 51 moving independently of the other first input discs.

The following embodiment will be described by taking an example in which the distal end of the instrument housing 213 of the surgical instrument 200 is mounted on the proximal end of the power unit 100, and at this time, an instrument channel through which the long shaft 210 of the distal end of the surgical instrument 200 passes is formed in the power unit 100, the first input disc 51 of the surgical instrument 200 is located at the distal end of the instrument housing 213, toward the end effector 211, and the rotating member 10 of the power unit 100 is located at the proximal end of the power unit 100. It will be appreciated that the present invention is equally applicable to situations where the proximal end of the instrument housing 213 of the surgical instrument 200 is mounted to the distal end of the power unit 100, where the first input disc 51 of the surgical instrument 200 is located at the proximal end of the instrument housing 213, facing away from the end effector 211, and the rotating member 10 of the power unit 100 is located at the distal end of the power unit 100.

Example 1

Axial biasing member 20

In order to detect the driving output of the power device 100 to provide a stable and reliable driving input for the surgical instrument 200, as shown in fig. 4A to 5A, the present embodiment provides a power device 100, which mainly includes a first housing 100a, a rotating member 10, an axial biasing member 20, a first detecting member 30, and a controller 40, wherein the first housing 100a is used for fixing motors M, each motor M is in driving connection with one first input disc 51, and is configured to provide a rotating power source for the first input disc 51. The rotary member 10 is rotatably disposed in the first housing 100a, and includes an axial coupling end portion 10S, where the coupling end portion 10S is exposed outside the first housing 100a for docking of the drive input interface 50, and the drive input interface 50 is used as a power input interface of the surgical instrument 200, which may be a part of the surgical instrument 200, a component independent from the surgical instrument 200, or a part of the power unit 100.

The axial biasing member 20 is configured to provide a resilient bias for the rotary member 10 toward the surgical instrument 200 such that the drive input interface 50 may maintain resilient contact when interfacing with the rotary member 10, achieving stable axial contact that further deforms to an increased amount of deformation when the drive input interface 50 is coupled with the rotary member 10. The axial biasing member 20 of this embodiment adopts a compression spring, and is disposed on a side (distal end) of the rotating member 10 facing away from the surgical instrument 200, and is fixed relative to the rotating shaft M1 of the motor M, and rotates with rotation of the rotating member 10, so that the compression amount of the axial biasing member 20 is minimal when the rotating member 10 is not pressed, and the compression amount of the axial biasing member 20 increases when the rotating member 10 is pressed.

It will be appreciated that in other embodiments, other resilient members that deform, such as rubber, may be used for the axial biasing member 20. As shown in fig. 4C, for example, the axial bias member 20 may be further disposed on a side (proximal end) of the rotating member 10 near the surgical instrument 200, and a tension spring is used, one end of the axial bias member 20 is fixed relative to the rotating shaft M1 of the motor M, the other end is fixed to the rotating member 10, and the rotating member 10 is pulled toward the surgical instrument 200, when the rotating member 10 is not pressed, the elongation of the axial bias member 20 is minimum, and when the rotating member 10 is pressed, the elongation of the axial bias member 20 is increased, and in order to avoid the tension spring extending out of the rotating member 10 to affect the butt joint, a groove C may be formed at the end of the rotating member 10, and the tension spring may be disposed in the groove C.

First detecting part 30

In the initial state, the driving input interface 50 is not mounted on the rotary member 10, and in the axial direction of the rotary member 10, a space is provided between the detection end of the first detection member 30 and the rotary member 10, and the first detection member 30 is configured to detect the position of the rotary member 10 or a part thereof in the axial direction thereof. The controller 40 is configured to: when the detected portion of the rotary member 10 is located on the side facing away from the surgical instrument 200 with respect to the preset position (A0 position shown in fig. 4A), it is determined that the drive input interface 50 is not coupled with the coupling end portion 10S of the rotary member 10. Wherein, when the rotating member 10 is at the preset position A0, the driving input interface 50 is in a critical state of coupling with the rotating member 10, and at this time, the driving input interface 50 compresses the axial biasing member 20 to provide torque to the surgical instrument 200. That is, only when the driving input interface 50 is coupled to the rotating member 10, the rotating member 10 is located at the preset position A0, and in other cases, the rotating member 10 is not located at the preset position A0, and the driving input interface 50 cannot be in driving connection with the rotating member 10.

The first detecting member 30 may detect the position of the rotary member 10 in the axial direction thereof in various manners, and may directly detect the displacement (i.e., the position) change of the rotary member 10 in the axial direction thereof, or may indirectly detect the deformation amount of the axial biasing member 20.

In this embodiment, the first detecting member 30 detects the position change of the rotating member 10 along the axial direction thereof, specifically, in the axial direction of the rotating member 10, there is a space between the detecting end of the first detecting member 30 and the rotating member 10, the detecting end of the first detecting member 30 is disposed on the side facing away from the surgical instrument 200 with respect to the rotating member 10, that is, on the distal end side of the rotating member 10, the first detecting member 30 is a non-contact sensor configured to detect whether the detected portion of the rotating member 10 is sensed, for example, the first detecting member 30 employs a proximity sensor, and accordingly, the controller 40 is configured to: when the first detecting member 30 senses the detected portion of the rotary member 10, it is determined that the driving input interface 50 is not coupled with the rotary member 10.

As shown in fig. 4A, an internal structure of the power device in a coupled state of the surgical instrument is shown, as shown in fig. 4B, an internal structure of the power device in a uncoupled state of the surgical instrument in embodiment 1 of the present invention is shown, and fig. 5A shows a main structure of the power device. The drive input interface 50 and the rotary member 10 are coupled by mating of female and male features on the end faces toward each other. As shown in fig. 5A, when the driving input interface 50 is not located above the rotating member 10, the axial biasing member 20 is in an initial deformed state, the distance between the first detecting member 30 and the rotating member 10 is large, and the first detecting member 30 cannot detect the rotating member 10; as shown in fig. 4B, when the drive input interface 50 is fitted to the rotary member 10, the deformation amount of the axial bias member 20 increases, and when the drive input interface 50 is not aligned with the concave feature and the convex feature for coupling on the rotary member 10, the drive input interface 50 presses the rotary member 10 toward the distal end side, the deformation amount of the axial bias member 20 is in the maximum deformation state, resulting in a decrease in the distance between the first detection member 30 and the rotary member 10, and the actual position A1 of the rotary member 10 in the axial direction thereof has deviated from the preset position A0 toward the distal end, thereby being detected by the first detection member 30, at which time the controller 40 determines that the drive input interface 50 is not coupled with the rotary member 10; as shown in fig. 4A, when the driving input interface 50 is fitted to the rotary member 10 and the female and male features of the driving input interface 50 and the rotary member 10 for coupling are aligned to be engaged with each other, the rotary member 10 is sprung back toward the proximal end by a distance, resulting in an increase in the distance between the first detecting member 30 and the rotary member 10, and the actual position of the rotary member 10 in the axial direction thereof reaches the preset position A0 and is no longer detected by the first detecting member 30, at which time the controller 40 determines that the driving input interface 50 is coupled to the rotary member 10.

In fig. 5A, the rotary member 10 has a ring-shaped detected portion 101, the first detecting member 30 is configured to detect whether the detected portion 101 of the detected portion 101 is sensed, and the controller 40 is configured to: when the detected portion 101 is sensed by the detected portion 101, it is determined that the driving input interface 50 is not coupled with the rotary member 10. Fig. 5A shows a case where the detection end of the first detection member 30 is facing the distal end face of the rotary member 10, the first detection member 30 is located on one side in the axial direction of the rotary member 10, and when the rotary member 10 is pressed to move in a direction to increase the deformation amount of the axial bias member 20 (i.e., a direction away from the surgical instrument 200), the distance from the detected portion 101 to the detection end of the first detection member 30 gradually decreases. It will be appreciated that the position of the first detecting member 30 may be changed, for example, fig. 5B shows another power device, in fig. 5B, the rotating member 10 has a ring-shaped detected portion 101', the first detecting member 30 is disposed radially outside the rotating member 10 toward the center axis of the rotating member 10 for detecting an annular outer peripheral surface of the detected portion 101', the annular outer peripheral surface is larger than a radial dimension of an adjacent outer peripheral surface of the rotating member 10, when the rotating member 10 is pressed to move in a direction of increasing the amount of deformation of the axial biasing member 20, the detected portion 101' of the rotating member 10 may move axially from a distance away to a detecting end close to the first detecting member 30, a distance from the detected portion 101' to the detecting end of the first detecting member 30 may be gradually decreased first, the detected portion 101' may be detected by the first detecting member 30 when the detected portion 101' is close to the first detecting member 30, and then the distance from the detected portion 101' to the detecting end of the first detecting member 30 may gradually be increased in a process of continuing to press the rotating member 10. The position of the first detecting member 30 may be set such that when the facing detected portion 101' is detected, the rotary 10 reaches the preset position A0, and accordingly, the controller 40 is configured to: when the detected portion 101' is detected, it is determined that the driving input interface 50 is coupled with the rotary 10. Here, the detection target portion 101' may be the same as the detection target portion 101, or may be another portion different from the detection target portion 101.

It will be appreciated that in other embodiments, the first detecting member 30 may be replaced by a distance sensor instead of a proximity sensor, the first detecting member 30 being configured to detect a distance from the detected portion 101, and the controller 40 being configured to: when the first detecting part 30 detects that the distance between the first detecting part and the rotating member 10 is smaller than the preset distance, it is determined that the driving input interface 50 is not coupled with the rotating member 10; when the first detecting part 30 detects that the distance between the first detecting part and the rotating member 10 is equal to the preset distance, it is determined that the driving input interface 50 is coupled with the rotating member 10; when the first detecting part 30 detects that the distance between the first detecting part and the rotating member 10 is greater than the preset distance, it is also determined that the driving input interface 50 is not coupled with the rotating member 10. The proximity sensor includes, but is not limited to, capacitive, inductive, photoelectric, etc., and the distance sensor includes, but is not limited to, an optical sensor, an infrared sensor, an ultrasonic sensor, etc.

Adapter assembly 300

In order to provide a suitable sterile environment during a surgical robot surgery, a sterile instrument and a sterile instrument need to be isolated, the mechanical arm 21 and the power device 100 of the operating device 2 are generally sterile, the surgical instrument 200 needs to be sterile, the adapter assembly 300 is configured between the sterile power device 100 and the sterile surgical instrument 200 in this embodiment, and in particular use, the adapter assembly 300 can be used as a part of a sterile cover, and the sterile power device 100 and the sterile surgical instrument 200 can be isolated by isolating the surgical instrument from other parts of the device by using the sterile cover, and the power (such as the motor torque output) of the power device 100 is transmitted to the surgical instrument 200 through the adapter assembly 300, so that the surgical instrument 200 can be driven to perform corresponding surgical operations, and the sterile isolation effect can be ensured.

By providing the first input discs 51 on the surgical instrument 200, the second input discs 52 on the adapter assembly 300, and the rotating member 10 on the power unit 100, the number of rotating members 10 corresponds to the number of the first input discs 51 on the surgical instrument 200 and the second input discs 52 on the adapter assembly 300, such that each first input disc 51 is coupled to one rotating member 10 via one second input disc 52, respectively.

Referring to fig. 6A to 7, in the present embodiment, the adapter assembly 300 specifically includes a second housing 300a detachably mounted to the first housing 100a and a plurality of second input discs 52, i.e., 52A-52F rotatably provided on the second housing 300 a. In this embodiment, the first input disc 51 and the second input disc 52 form the driving input interface 50, the second input disc 52 is only a part of the driving input interface 50, the driving input interface 50 is coupled to the rotating member 10 only by driving the first input disc 51, the second input disc 52 and the rotating member 10 in pairs, and only the second input disc 52 is coupled to the rotating member 10, and the first input disc 51 and the second input disc 52 are not coupled to the driving input interface 50 and the rotating member 10, in this case, the first detecting member 3 can still detect the rotating member 10.

As a preferred embodiment, the second input disc 52 and the rotary member 10 are coupled by mating of concave and convex features of the end faces toward each other, and the first input disc 51 and the second input disc 52 provided on the surgical instrument 200 are coupled by mating of concave and convex features of the end faces toward each other to transmit torque between the rotary member 10 and the surgical instrument 200. Wherein the second input disc 52 has a degree of freedom in the axial direction of the second housing 300a, that is, the second input disc 52 is rotatable with respect to the second housing 300a, and is movable in the axial direction of the second housing 300a, which allows the second input disc 52 to be elastically abutted and axially displaced by the axial biasing member 20, with both the contact state engaged with and disengaged from the rotary member 10.

Accordingly, the controller 40 is configured to: after the second housing 300a is mounted to the power unit, it is judged whether the second input disc 52 is coupled with the rotary member 10 according to the detection result of the first detection part 30; after the second input disc 52 is coupled with the rotary member 10 and the surgical instrument 200 is mounted to the power unit, it is determined whether the first input disc 51 is coupled with the second input disc 52 based on the detection result of the first detection part 30. Thus, only one first detecting member 30 is provided for each rotary member 10, so that the engagement states of the second input disc 52 of the adapter assembly 300 and the first input disc 51 of the surgical instrument 200 can be detected simultaneously.

To achieve an axial abutment, the coupling end 10S of the rotary member 10 has first coupling features C1, C2, the lower (distal) surface of the second input disc 52 is provided with second coupling features D1, D2, the upper (proximal) surface of the second input disc 52 is provided with third coupling features E1, E2, the lower (distal) surface of the first input disc 51 is provided with fourth coupling features F1, F2, the first coupling features C1, C2 are male or female features, the second coupling features D1, D2 are female or male features, respectively, engaged with the first coupling features C1, C2, the third coupling features E1, E2 are male or female features, the fourth coupling features F1, F2 are female or male features engaged with the third coupling features E1, E2, the first coupling features C1, C2 are engaged with the second coupling features D1, D2, the third coupling features E1, E2 are engaged with the fourth coupling features F1, F2, respectively, the first coupling features C1, C2 are engaged with the first coupling features C1, C2, the first input disc 10 is transferred to the first input disc 51.

Fig. 6A shows a schematic structural view of the power unit 100 and the adapter assembly 300 thereof, wherein the power unit 100 includes six rotating members 10, namely 10A-10F, and a plurality of rotating members 10 are mounted in a first housing 100A, and each rotating member 10 is controlled by a controller 40 to move independently. Each controller 40 independently controls and drives the surgical instrument 200, e.g., each rotor 10 controls the rotation, yaw, pitch, end instrument opening and closing, etc., of the surgical instrument 100, respectively. In other embodiments, the number of controllers 40 may be varied as desired, for example, by one controller 40 controlling the rotation of all of the rotary members 10 within the power plant 100.

As shown in connection with fig. 6A to 7, the second housing 300a of the adaptor assembly 300 includes an upper housing 3001 provided at a proximal end thereof and a lower housing 3002 provided at a distal end thereof, the upper housing 3001 and the lower housing 3002 cooperating to form a plurality of receiving chambers 3011, each receiving chamber 3011 for receiving one of the second input discs 52, the upper housing 3001 having a first edge portion 3010 for limiting axial distal movement of the second input disc 52, the lower housing 3002 having a second edge portion 3020 for limiting axial proximal movement of the second input disc 52, the second input disc 52 being smaller in axial dimension than the receiving chamber 3011 so as to be axially movable within the receiving chamber 3011.

Referring to fig. 5A, 6A and 6B, the free end of the rotating shaft M1 of the motor M extends out of the rotating member 10, and protrudes out of the rotating member 10 compared with the coupling end 10S, the shaft hole H is formed in the axial center of the second input disc 52 of the adapter assembly 300, and when the adapter assembly 300 is mounted to the first housing 100a, the free end of the rotating shaft M1 is inserted into the shaft hole H, and the shaft hole H can realize a pre-alignment function for mounting the adapter assembly 300, which is beneficial to radial alignment of the rotating member 10 and the second input disc 52. The shaft hole H may be a groove formed on a surface of the second input disc 52 where the distal end thereof is located. Specifically, the free end of the rotating shaft M1 is fixed with a shaft cap M11, the center of the rotating member 10 is provided with a central hole 10h through which the rotating shaft M1 passes, the shaft cap M11 is fixed at the free end of the rotating shaft M1 and at least partially accommodated in the central hole 10h, the rotating member 10 is radially limited, the rotating member 10 is elastically abutted with the shaft cap M11 in the axial direction under the action of the axial biasing member 20, and the shaft cap M11 allows the rotating member 10 to move in the axial direction but cannot rotate relative to the rotating shaft M1.

It is understood that the adapter assembly 300 is not required and that in some embodiments, the adapter assembly 300 may be omitted. As shown in fig. 8, the first input disc 51 is directly interfaced with the rotary member 10 to be coupled. In this case, the drive input interface 50 comprises a first input disc 51 provided on the surgical instrument 200, the first input disc 51 and the rotary member 10 being coupled by cooperation of female and male features (C1, C2 and F1, F2) facing each other. Accordingly, the controller 40 is configured to: after the surgical instrument 200 is loaded into the power device, it is determined whether the first input disc 51 is coupled with the rotary member 10 according to the detection result of the first detection part 30. This detection process coincides with the above process, i.e., when the detected portion of the rotary member 10 is located on the side facing away from the surgical instrument 200 with respect to the preset position A0, it is determined that the drive input interface 50 is not coupled with the coupling end portion 10S of the rotary member 10.

Signal terminals P1, P2, P3

To determine the coupling state of the driving input interface 50 and the rotary member 10, the power device may include various signal terminals. As shown in fig. 6A, the first housing 100a of the power device 100 has a first signal terminal P1 thereon, the first signal terminal P1 is in contact with a signal terminal on the driving input interface 50 for conduction, and the controller 40 is configured to: the drive input interface 50 is determined to be incorporated into the power device based on the signal that the first signal terminal P1 is in conduction with the signal terminal of the drive input interface 50.

In the power device 100 having the adapter assembly 300, the adapter assembly 300 is configured to transmit torque between the rotator 10 and the surgical instrument 200, the adapter assembly 300 includes the second signal terminal P2, the second signal terminal P2 penetrates through both the proximal and distal surfaces of the second housing 300a, when the adapter assembly 300 is mounted to the first housing 100a of the power device 100, the second signal terminal P2 thereof is in contact with the first signal terminal P1 on the first housing 100a to be conducted, and then the surgical instrument 200 is mounted to the adapter assembly 300, and the third signal terminal P3 on the surgical instrument 200 may be in contact with the second signal terminal P2 to be conducted after being mounted, thereby forming a path connecting the first signal terminal P1. The controller 40 is configured to: determining that the pod 300 is mounted to the first housing 100a according to the signal that the second signal terminal P2 is electrically connected to the first signal terminal P1; after the adaptor assembly 300 is mounted to the first housing 100a of the power device 100, it is determined that the surgical instrument 200 is mounted to the adaptor assembly 300 according to a signal that the third signal terminal P3 of the surgical instrument 200 is in communication with the first signal terminal P1.

In the power device 100 without the adapter assembly 300, when the surgical instrument 200 is mounted to the first housing 100a of the power device 100, the third signal terminal P3 thereof is in contact with the first signal terminal P1 to be turned on, and the controller 40 is configured to: it is determined that the surgical instrument 200 has been mounted to the power unit 100 based on the signal that the third signal terminal P3 of the surgical instrument 200 is in conduction with the first signal terminal P1.

Indication device 301

Although the controller 40 may determine that the adapter assembly 300/surgical instrument 200 is mounted according to the conductive state of each signal terminal, in order to further facilitate the operator to intuitively observe the mounting state of the adapter assembly 300 and the surgical instrument 200, as shown in fig. 6A and 7, the power device 100 of the present embodiment further includes an indicating device 301, which may be provided on the outer wall of the second housing 300a so as to facilitate the observation. Because the first housing 100a is provided with the first signal terminal P1, the adapter assembly 300 has the second signal terminal P2, the surgical instrument 200 has the third signal terminal P3, and the indicating device 301 is disposed on the adapter assembly 300 and is electrically connected to the second signal terminal P2, and can be conducted through the detection circuit where the second signal terminal P2 and the first signal terminal P1 are located, so as to send an indication according to the coupling state of the second input disc 52 of the adapter assembly 300 and the first input disc 51 of the surgical instrument 200, where the indicating device 301 may be an indicator lamp, or may be a horn. The second signal terminal P2 is capable of communicating with the first signal terminal P1 after the adaptor assembly 300 is mounted to the first housing 100a, and is capable of communicating with the third signal terminal P3 after the surgical instrument 200 is mounted to the adaptor assembly 300, the controller 40 being configured to: after the adaptor assembly 300 is mounted to the first housing 100a, and/or after the surgical instrument 200 is mounted to the adaptor assembly 300, the indication state of the indication device is switched according to the detection result of the first detection part 30, for example, the indication device 301 is turned on/off when the second input disc 52 of the adaptor assembly 300 is detected to be coupled to the rotator 10, and the indication device 301 is turned on/off when the first input disc 51 of the surgical instrument 200 is coupled to the second input disc 52.

Second detecting part 60

As shown in fig. 5A, in order to accurately detect the zero position, i.e., the initial position, of the rotary member 10, and facilitate accurate control of the rotation angle of the motor M, the power device 100 further has a second detecting member 60, and the rotary member 10 is correspondingly provided with a target portion T. When the motor M drives the rotating member 10 to rotate to the zero position, the target portion T rotates to be opposite to the second detecting member 60, thereby determining that the rotating member 10 has returned to the zero position, and according to the zero position, the rotation angle of the rotating member 10 can be determined, so that the subsequent installation and coupling of the surgical instrument 200 can be facilitated. The controller 40 is configured to: when the target portion T rotates with the rotary member 10 to be detected by the second detecting member 60, it is determined that the rotary member 10 rotates to the zero position.

The target portion T may be a through hole penetrating through the axial direction of the rotating member 10, the second detecting component 60 includes a transmitting end 61 and a receiving end 62, the transmitting end 61 and the receiving end 62 are respectively disposed on two sides of the target portion T along the axial direction of the rotating member 10, when the signal sent by the transmitting end 61 is received by the receiving end 62, the target portion T is described as rotating between the transmitting end 61 and the receiving end 62, otherwise, the target portion T is not considered to be opposite to the second detecting component 60. Here, the target portion T may be provided on the annular detected portion 101, with the transmitting end 61 and the receiving end 62 being located on both sides of the detected portion 101 in the axial direction, respectively, sandwiching the detected portion 101 therebetween, and the axial movement gap 600 reserved for the detected portion 101 being formed between the transmitting end 61 and the receiving end 62.

In other embodiments, the target portion T may be other marks for tracking, for example, the target portion T is a magnet, the second detecting member 60 is a hall sensor, and the change of the magnetic field generated by the magnet in the vicinity thereof is detected by using the hall sensor to identify the rotation angle of the rotating member 10, so as to determine the zero position.

Generally, when the power device 100 is powered on, the motor M drives the rotating member 10 to rotate to a zero position, so that the position of the zero position can be determined in combination with an encoder of the motor in the process, and whether the motor M works normally can also be judged, and meanwhile, the influence of the failure of the motor M on the detection accuracy of the installation states of the subsequent switching assembly 300 and the surgical instrument 200 can also be avoided. The controller 40 is configured to: according to the energization instruction of the motor M, the rotation of the rotary member 10 is controlled until the target point T is detected by the second detecting member 60, so that the rotary member 10 is stopped at the zero position, after which the installation of the drive input interface 50 is started. In some embodiments, the rotor 10 does not return to zero when the power plant 100 is powered up.

In the power device 100 with the adapter assembly 300, the adapter assembly 300 is detachably mounted to the first housing 100a, after the adapter assembly 300 is mounted to be in driving engagement with the rotating member 10, the motor M can be controlled to drive the rotating member 10 to rotate to a zero position, after the end effector 211 of the surgical instrument 200 passes through the sleeve 22, various joints are basically straightened, after the adapter assembly 300 is in driving engagement with the rotating member 10, when each rotating member 10 is in the zero position, the second input disc 52 of the adapter assembly 300 is exactly opposite to the position of the concave/convex feature of the corresponding joint of the straightened surgical instrument 200, so that the rotating member 10 can be directly in driving engagement with the adapter assembly 300 after the surgical instrument 200 is mounted to the adapter assembly 300, or can be coupled with the corresponding first input disc 51 only by correcting the rotation angle of the rotating member 10 by a small margin, and the joint efficiency of the surgical instrument can be improved. The controller 40 is configured to: after the adaptor assembly 300 is mounted to the first housing 100a, and the first detecting member 30 detects that the second input disc 52 of the adaptor assembly 300 is in driving engagement with the rotating member 10, the rotating member 10 is controlled to rotate in the zero direction, so that the target portion T is detected by the second detecting member 60. In some embodiments, the rotational member 10 does not return to zero before the surgical instrument 200 is installed, and it may be necessary to align and couple the first input disc 51 with the corresponding second input disc 52 after the surgical instrument 200 is installed, which may take more time.

As shown in fig. 6A, the rotating members 10 include a first rotating member 10A and a second rotating member 10B, each rotating member 10 corresponds to one of the drive input interfaces 50, one of the first detecting members 30, and one of the second detecting members 60, respectively, the first rotating member 10A includes a rotating member 10 configured to drive the end effector of the surgical instrument 200 to perform a non-rotation motion such as pitching, yawing, opening and closing, and the second rotating member 10B is a rotating member 10 configured to drive the end effector of the surgical instrument 200 to perform a rotation motion. When the adapter assembly 300 is mounted to the first housing 100A and the second input disc 52 is in driving engagement with the rotator 10, the surgical instrument 200 may then be mounted, and after the surgical instrument 200 is mounted to the adapter assembly 300 and in driving engagement with the adapter assembly 300, the first rotator 10A may be rotated to a zero position, while the second rotator 10B may be rotated to a target point T within the predetermined angular interval α, unlike the first rotator 10A. The preset angle interval α is a master-slave operation limit interval of the operation portion 1a and the slave operation device 200, when the target point portion T is located outside the preset angle interval α and master-slave alignment is performed before a subsequent operation, the gesture of the operation portion 1a cannot be aligned with the gesture of the slave operation device 200, so that the master-slave alignment program automatically exits, the operation experience of a doctor is affected, and the next master-slave alignment program can be performed only when the target point portion T is located within the preset angle interval α.

Accordingly, the controller 40 may be configured to: after the surgical instrument 200 is mounted to the adapter assembly 300, and the first detection member 30 detects that the first input disc 51 is coupled to the first rotating member 10A, if the target portion T is detected by the second detection member 60, the first rotating member 10A is not rotated any more, otherwise, the first rotating member 10A is controlled to rotate until the target portion T is detected by the second detection member 60; after the surgical instrument 200 is mounted to the adapter assembly 300, and the first detecting component 30 detects that the first input disc 51 is coupled to the second rotating member 10B, if the target point T is located within the preset angle interval α, the second rotating member 10B is not rotated any more, otherwise, the second rotating member 10B is controlled to rotate until the target point T is located within the preset angle interval α. The preset angle interval α may be defined according to data such as an encoder of the motor M, and whether the target point T is located within the preset angle interval α may also be calculated by pushing according to a rotation angle of the motor M.

During actual installation, once the first coupling features C1, C2 are aligned with the second coupling features D1, D2 and once the third coupling features E1, E2 are aligned with the fourth coupling features F1, F2, after the adapter assembly 300 is mounted to the first housing 100a, or after the surgical instrument 200 is mounted to the adapter assembly 300, the controller 40 of the present embodiment is further configured to: after the adapter assembly 300 is mounted to the first housing 100a, when the second input disc 52 is not coupled to the rotating member 10, the rotating member 10 is controlled to rotate in a preset first manner, when the rotating member 10 rotates to be coupled to the second input disc 52, the preset rotation of the rotating member 10 is interrupted, the preset first manner may be, for example, forward and reverse rotation to perform scanning, such as scanning M times, where returning from the initial position to the limit position to the initial position is referred to as scanning, returning from the initial position to the forward scanning or to the reverse scanning is referred to as scanning once, and the angle of the unidirectional scanning of the rotating member 10 does not exceed the first angle threshold a; subsequently, when the first input disc 51 is not coupled with the second input disc 52, the rotary member 10 is controlled to rotate in a preset second manner, which may be, for example, forward and reverse rotation scanning, such as scanning N times, the unidirectional scanning angle of the rotary member 10 does not exceed the second angle threshold b, wherein M, N is not less than 1 time, when the rotary member 10 rotates to be coupled with the first input disc 51, the preset rotation of the rotary member 10 is interrupted.

Since the rotation of the rotary member 10 to the first time coupled with the second input disc 52, i.e., the interruption of the preset rotation, during the installation of the surgical instrument 200, it is possible to prevent the instrument from being accidentally driven after the driving engagement with the power unit 100, and to prevent the instrument from injuring the human body. In addition, in the process of installing the adapter assembly 300, the preset rotation is interrupted at the first time when the second input disc 52 is successfully coupled, so that unnecessary actions can be omitted, and the installation efficiency is improved.

After the adapter assembly 300 is installed, when the first coupling features C1 and C2 are not aligned with the second coupling features D1 and D2, the second input disc 52 is elastically abutted against the proximal inner surface of the second housing 300a by the biasing force applied by the axial biasing member to the rotating member 10, and the rotating member 10 can be rotated relative to the second input disc 52 by controlling the rotating member 10 to rotate repeatedly in the forward and reverse directions, so that the first coupling features C1 and C2 are aligned with the second coupling features D1 and D2; likewise, when the third coupling features E1, E2 are misaligned with the fourth coupling features F1, F2 after installation of the surgical instrument 200, the second input disc 52 may be rotated relative to the first input disc 51 by controlling the rotational member 10 to rotate in forward and reverse directions repeatedly, aligning the third coupling features E1, E2 with the fourth coupling features F1, F2. Wherein, before the surgical instrument 200 is installed, the rotating member 10 may freely rotate the second input disc 52 of the adapter assembly 300, and when the surgical instrument 200 is installed, the surgical instrument 200 may also rotate with the rotating member 10 in an uncoupled state, and the second angle threshold b is smaller than the first angle threshold a in order to avoid uncontrolled accidental movement of the end effector at the wound.

It will be appreciated that in some embodiments, the controller 40 may also be configured to: when it is detected that the adapter assembly 300 is mounted to the first housing 100a, the rotation member 10 is controlled to rotate forward and backward to scan, regardless of whether the second input disc 52 is coupled to the rotation member 10, and the unidirectional scanning angle of the rotation member 10 does not exceed the first angle threshold a; upon detecting that the surgical instrument 200 is mounted to the adapter assembly 300, the rotating member 10 is controlled to rotate forward and backward for scanning regardless of whether the first input disc 51 is coupled to the second input disc 52, the unidirectional scan angle of the rotating member 10 does not exceed the second angular threshold b, which is also less than the first angular threshold a.

Further, considering that after the surgical device 200 is mounted to the adapter assembly 300 and in driving engagement with the adapter assembly 300, in one embodiment, the first rotary member 10A needs to be rotated to a zero position, the controller 40 is configured to: when the first rotating member 10A is coupled to one of the second input discs 52 and the corresponding first input disc 51 is not coupled to the first rotating member 10A after being mounted to the corresponding second input disc 52, controlling the first rotating member 10A to rotate in a preset third manner, in the process, once the first detecting unit 30 detects that the first input disc 51 is coupled to the second input disc 52, immediately interrupting the preset rotation of the first rotating member 10A, controlling the rotating member 10 to rotate toward the zero position, and stopping the rotation when the first rotating member 10A rotates to the target point T detected by the second detecting unit 60; when the second rotating member 10B is coupled to the other second input disc 52 and the corresponding first input disc 51 is not coupled to the second rotating member 10B after being mounted to the corresponding second input disc 52, the second rotating member 10B is controlled to rotate in a preset fourth manner, and when the second rotating member 10B rotates to be coupled to the corresponding first input disc 51, the preset rotation of the second rotating member 10B is interrupted, and the second rotating member 10B is controlled to rotate until the target portion T is located within the preset angle interval α. That is, once the first detection member 30 detects that the first input disc 51 is coupled to the second input disc 52, the rotary member 10 is rotated in the direction of the zero position, regardless of whether it is about to rotate forward or reverse, until the target portion T is detected by the second detection member 60, the orientation of the zero position may be determined at the time of power up of the power device 100 in conjunction with an encoder or the like. In this way, the rotating member 10 can return to the zero position in the shortest time and the shortest rotation path after the first input disc 51 and the second input disc 52 are coupled, and no redundant action is performed, without waiting for the rotating member 10 to scan a certain angle threshold, so that the installation efficiency and the safety are improved.

In some embodiments, when the surgical device 200 is mounted to the adapter assembly 300 and the first detection member 30 detects that the first input disc 51 is coupled to the first rotator 10A, the first rotator 10A immediately stops rotating and does not return to the zero position. The controller 40 is configured to: when the first rotating member 10A is coupled to one of the second input discs 52 and the corresponding first input disc 51 is not coupled to the first rotating member 10A after being mounted to the corresponding second input disc 52, the first rotating member 10A is controlled to rotate in a preset third manner, and when the first rotating member 10A rotates to be coupled to the corresponding first input disc 51, the preset rotation of the first rotating member 10A is interrupted, and the rotation of the first rotating member 10A is stopped, and the rotation of the rotating member 10 toward the zero position is no longer controlled; when the second rotating member 10B is coupled to the other second input disc 52 and the corresponding first input disc 51 is not coupled to the second rotating member 10B after being mounted to the corresponding second input disc 52, the second rotating member 10B is controlled to rotate in a preset fourth manner, and when the second rotating member 10B rotates to be coupled to the corresponding first input disc 51, the preset rotation of the second rotating member 10B is interrupted, and the target portion T of the second rotating member 10B is controlled to rotate within the preset angle interval α. That is, once the first detecting part 30 detects that the first input disc 51 is coupled with the second input disc 52, the rotation is directly stopped regardless of whether the rotary member 10 is about to rotate forward or backward, and the next master-slave alignment command is waited for. When all the drive input interfaces 50 of the surgical instrument 200 are coupled with the rotating members 10 corresponding to the power devices, and the target point T of the second rotating member 10B is located within the set angle interval α, the next master-slave alignment operation can be performed to align the posture of the operating portion 1a with the posture of the slave operating device 2.

In addition, considering that after the adapter assembly 300 is mounted to the first housing 100a, even though the second input disc 52 cannot be coupled to the rotating member 10 after the rotating member 10 is controlled to be repeatedly rotated in the forward and reverse directions M times, or the first input disc 51 cannot be coupled to the second input disc 52 after the rotating member 10 is controlled to be repeatedly rotated in the forward and reverse directions N times, as shown in fig. 6B, further, the adapter assembly 300 of the present embodiment further includes an axial vibration member 302 partially protruding into the receiving cavity 3011, when the second input disc 52 cannot be coupled to the rotating member 10, or the first input disc 51 cannot be coupled to the second input disc 52, the second input disc 52 may be vibrated in the axial direction of the adapter assembly 300 by controlling the axial vibration member 302 until the corresponding coupling features are engaged with each other, for example, the axial vibration member 302 may be a linear motor, fixed to the second housing 300a, and may be electrically connected to the controller 40 by means of the second signal terminal P2.

For example, a circumferential recess 520 may be formed on the outer peripheral surface of each second input disc 52, a part of the axial vibration member 302 is disposed in the second housing 300a, and another part of the axial vibration member 302 extends into the recess 520, when the second input disc 52 is coupled to the rotating member 10 and the second input disc 52 is coupled to the first input disc 51, the rotating member 10 is at the preset position A0, and the axial vibration member 302 may not contact the recess 520, so that the rotation of the second input disc 52 is not affected, and when the rotating member 10 is not at the preset position A0, the axial vibration member 302 drives the second input disc 52 to vibrate slightly in the axial direction and rotate in the forward and reverse directions in cooperation with the rotating member 10, so that the rotating member 10, the second input disc 52, and the first input disc 51 may be coupled. Accordingly, the controller 40 may be configured to: after the adapter assembly 300 is installed, when the first coupling features C1 and C2 are not aligned with the second coupling features D1 and D2, the axial vibration member 302 is started while the rotating member 10 is controlled to rotate repeatedly in the forward and reverse directions, so that the rotating member 10 rotates and vibrates axially relative to the second input disc 52, and the first coupling features C1 and C2 are aligned with the second coupling features D1 and D2; likewise, after the surgical instrument 200 is installed, when the third coupling features E1, E2 are misaligned with the fourth coupling features F1, F2, the axial vibration member 302 is activated to rotate and vibrate the second input disc 52 axially with respect to the first input disc 51 while the rotary member 10 is controlled to rotate repeatedly in the forward and reverse directions, so that the third coupling features E1, E2 are aligned with the fourth coupling features F1, F2.

Referring to fig. 9, another adaptor assembly 300 of the present embodiment is shown, considering that in some extreme cases, when the adaptor assembly 300 is mounted on the first housing 100a, even after the rotating member 10 is rotated in a preset manner, the rotating member 10 is always in an uncoupled state with the second input disc 52, and the concave features and the convex features of the two are not combined but keep a dislocated state, so that the rotating member 10 rotates the uncoupled second input disc 52 under the action of the axial biasing member 20 against the reverse friction force of the second housing 300a of the adaptor assembly 300, which is easy for a person to misuse to couple the rotating member 10 with the second input disc 52. To eliminate this unrealistic coupling state, the present embodiment is provided with a plurality of second bosses 3000 protruding on the surface (i.e., the first edge portion 3010) of the second housing 300a facing the surface on which the third coupling features E1, E2 are located, the second bosses 3000 being arranged at intervals along the circumferential direction of each receiving chamber 3011, the surface on which the third coupling features E1, E2 of the second input disc 52 are located being provided with a plurality of first bosses 521 protruding on the surface on which the third coupling features E1, E2 are located, the first bosses 521 being provided on the edges of the second input disc 52 and not contacting the fourth coupling features F1, F2, i.e., the radius of the circle on which the first bosses 521 are located is larger than the radius of the circle on which the fourth coupling features F1, F2 are located, so that only the relative rotation of the second input disc 52 and the second housing 300a is restricted from interfering with the first input disc 51 of the surgical instrument 200.

When the adapter assembly 300 is mounted on the first housing 100a, under the biasing action of the axial biasing element 20, the second input disc 52 is abutted against the inner surface of the second housing 300a, that is, the inner surface of the upper housing 3001 by the rotating element 10, the first boss 521 of the second input disc 52 is embedded in the interval between the second bosses 3000 of the second housing 300a, when the rotating element 10 drives the second input disc 52 to rotate in the uncoupled state, the first boss 521 rotates in the interval between the second bosses 3000 to be blocked by the second bosses 3000, even if one second boss 3000 cannot apply enough resistance to temporarily stop the second input disc 52, after the first boss 521 passes through the plurality of second bosses 3000, the second input disc 52 can be decelerated, so that the rotating element 10 and the second input disc 52 can be truly coupled, and after the first boss 521 and the second boss 3000 are coupled, the second input disc 52 can be driven to rotate in a following manner against the resistance between the first boss 521 and the second boss 3000.

Example 2

As shown in fig. 10, the present embodiment provides a method of detecting an engagement state of a power device of a surgical robot, the power device 100 including a first housing 100a, a rotation member 10 rotatably provided on the first housing 100a, including an axial coupling end portion 10S, an axial bias member 20 configured to provide an elastic bias to the rotation member 10 toward a surgical instrument 200, and a deformation amount becomes large when a drive input interface 50 is coupled to the rotation member 10, and a first detection member 30 configured to detect a position of the rotation member 10 in an axial direction thereof.

By employing the first detection member 30 in the power plant, the detection method includes: according to the detection result of the first detection part 30, it is determined whether the driving input interface 50 is coupled with the rotary member 10. Wherein the drive input interface 50 is configured to compress the axial biasing member 20 when coupled to the rotating member 10 to provide torque to the surgical instrument 200. Specifically, when the detected portion of the rotary member 10 is located on the side facing away from the surgical instrument 200 with respect to the preset position, it is determined that the drive input interface 50 is not coupled with the rotary member 10; conversely, when the rotating member 10 is located at the preset position A0, it is determined that the driving input interface 50 is coupled to the rotating member 10.

When the surgical robot does not have the adapter assembly 300, the first input disc 51 and the rotator 10 are coupled by the mating of the concave and convex features (C1, C2 and F1, F2) of the end faces toward each other. The drive input interface 50 includes a first input disc 51 provided on the surgical instrument 200, the first input disc 51 and the rotary member 10 being coupled by mating of female and male features on end faces facing each other. After the surgical instrument 200 is loaded into the power device 100, the detection method includes: based on the detection result of the first detecting means 30, it is judged whether the first input disc 51 is coupled with the rotary member 10. When the detected portion of the rotary member 10 is located on the side facing away from the surgical instrument 200 with respect to the preset position A0, it is determined that the drive input interface 50 is not coupled with the coupling end portion 10S of the rotary member 10.

When the surgical robot includes the adapter assembly 300, the adapter assembly 300 is part of the power plant 100, and after the adapter assembly 300 is mounted to the power plant 100, the detection method includes: judging whether the second input disc 52 is coupled with the rotary member 10 according to the detection result of the first detection part 30; after the second input disc 52 is coupled with the rotator 10 and the surgical instrument 200 is mounted to the adapter assembly 300, it is determined whether the first input disc 51 is coupled with the second input disc 52 according to the detection result of the first detection member 30.

In one embodiment, the first detecting part 30 determines the coupled state of the driving input interface 50 by detecting whether the detected portion 101 of the rotary 10 is sensed. At this time, the detection method includes: when the first detecting part 30 senses the detected portion 101 of the rotary member 10, it is determined that the driving input interface 50 is not coupled with the rotary member 10; when the first detecting part 30 does not detect the detected portion 101 of the rotary member 10, it is determined that the drive input interface 50 is coupled with the rotary member 10.

In one embodiment, the first detecting part 30 determines the coupled state of the driving input interface 50 by detecting the distance between it and the detected part 101. At this time, the detection method includes: when the first detecting part 30 detects that the distance between the first detecting part and the rotating member 10 is smaller than the preset distance, it is determined that the driving input interface 50 is not coupled with the rotating member 10; otherwise, it is determined that the driving input interface 50 is coupled with the rotary member 10.

In one embodiment, the first detection member 30 determines the coupled state of the drive input interface 50 by detecting the amount of deformation of the axial bias 20. At this time, the detection method includes: when the first detecting part 30 detects that the deformation amount of the axial biasing member 20 is smaller or larger than the preset value, it is determined that the driving input interface 50 is not coupled with the rotating member 10; on the contrary, when the first detecting member 30 detects that the deformation amount of the axial biasing member 20 is equal to the preset value, it is determined that the driving input interface 50 is coupled with the rotating member 10.

In one embodiment, the power device 100 further includes a first signal terminal P1 disposed on the first housing 100a, and the first signal terminal P1 may be in contact with a signal terminal on the driving input interface 50 to be conductive, thereby enabling transmission of an electrical signal. The detection method comprises the following steps: determining that the driving input interface 50 is installed in the power device according to the signal that the first signal terminal P1 is conducted with the signal terminal of the driving input interface 50; otherwise, it is determined that the drive input interface 50 is temporarily uninstalled or fails to be installed.

In the power device 100 without the adapter assembly 300, after the surgical instrument 200 is mounted to the first housing 100a of the power device 100, the third signal terminal P3 thereof is brought into contact with the first signal terminal P1 to be turned on. The detection method comprises the following steps: the surgical instrument 200 is determined to be mounted in the power unit based on the signal that the first signal terminal P1 and the third signal terminal P3 are connected.

In one embodiment, the power unit 100 includes a switching assembly 300 configured to transmit torque between the rotary member 10 and the surgical instrument 200, the switching assembly 300 having a second signal terminal P2 thereon, the surgical instrument 200 having a third signal terminal P3 thereon, the second signal terminal P2 being electrically connectable in contact with the first signal terminal P1 on the first housing 100a or in contact with the third signal terminal P3 on the surgical instrument 200. The detection method comprises the following steps: determining that the pod 300 is mounted to the first housing 100a according to the signal that the second signal terminal P2 is electrically connected to the first signal terminal P1; after the adaptor assembly 300 is mounted to the first housing 100a, it is determined that the surgical instrument 200 is mounted to the adaptor assembly 300 based on a signal that the third signal terminal P3 of the surgical instrument 200 is in communication with the first signal terminal P1.

In one embodiment, the power device 100 further has an indicating device 301, where the indicating device 301 is disposed on the adapter assembly 300 and is electrically connected to the second signal terminal P2. Thus, the second signal terminal P2 can be in communication with the first signal terminal P1 after the adapter assembly 300 is mounted to the first housing 100a, and can be in communication with the third signal terminal P3 after the surgical instrument 200 is mounted to the adapter assembly 300. The detection method comprises the following steps: after the adaptor assembly 300 is mounted to the first housing 100a and/or after the surgical instrument 200 is mounted to the adaptor assembly 300, the indication state of the indication device is switched according to the detection result of the first detection part 30. For example, when the indication device 301 is an indication lamp, the indication device 301 is turned on/off when the second input pad 52 of the adapter assembly 300 is detected to be coupled to the rotator 10, and the indication device 301 is turned on/off when the first input pad 51 of the surgical instrument 200 is coupled to the second input pad 52. In other embodiments, the indication device 301 may be a speaker, a display device, or the like. The indication information of the indication device 301 may also be sent to the reminder in other manners, for example, the indication information is displayed through the main console 1 or a separate imaging device (such as an imaging car).

Example 3

As shown in fig. 11, the present embodiment provides a method for engaging a power unit of a surgical robot, including:

s01, mounting the drive input interface 50 to the coupling end 10S of the rotating member 10 of the power device; wherein, the rotating member 10 elastically abuts against the driving input interface 50 under the action of the axial biasing member 20, and the driving input interface 50 can provide torque for the surgical instrument 200;

s02, detecting the position of the rotating member 10 in the axial direction;

s03, when the detection result shows that the detected part of the rotating member 10 is located at the side opposite to the surgical instrument 200 relative to the preset position, the rotating member 10 is rotated in a preset manner (such as forward direction and/or reverse direction) so that the rotating member 10 moves to a preset position A0 along the axial direction thereof; when the detection result shows that the rotating member 10 is located at the preset position A0 along the axial direction thereof, the driving input interface 50 is successfully engaged with the rotating member 10.

When the surgical robot does not have the adapter assembly 300, the first input disc 51 and the rotator 10 are coupled by the mating of the concave and convex features (C1, C2 and F1, F2) of the end faces toward each other. The drive input interface 50 includes a first input disc 51 provided on the surgical instrument 200, the first input disc 51 and the rotary member 10 being coupled by mating of female and male features on end faces facing each other. The first input disc 51 is coupled to the rotary member 10 by simply mounting the surgical instrument 200 to the first housing 100a of the power unit 100 and then detecting the position of the rotary member 10 in the axial direction thereof at the time of engagement of the surgical instrument with the power unit, and rotating the rotary member 10 in a preset manner, such as forward and/or reverse, when the rotary member 10 is not in the preset position A0, until the rotary member 10 moves in the axial direction thereof to the preset position A0.

When the surgical robot includes the adapter assembly 300, the adapter assembly 300 is part of the power device 100, the adapter assembly 300 includes the second input disc 52 having degrees of freedom in the axial and circumferential directions, the second input disc 52 and the rotary member 10 are coupled by the mating of the concave and convex features of the end faces toward each other, and the first input disc 51 and the second input disc 52 provided on the surgical instrument 200 are coupled by the mating of the concave and convex features of the end faces toward each other. In this case, the coupling method includes two mounting processes of the adapter assembly 300 and the surgical instrument 200, first, it is necessary to mount the adapter assembly 300 to the first housing 100a of the power unit 100, then detect the position of the rotary member 10 in the axial direction thereof, and when the detected portion of the rotary member 10 is located on the side facing away from the surgical instrument 200 with respect to the preset position, rotate the rotary member 10 in a preset first manner, such as forward and/or reverse, so that the rotary member 10 moves to the preset position A0 in the axial direction thereof, that is, the mounting of the adapter assembly 300 and the coupling of the second input disc 52 are completed; subsequently, the surgical instrument 200 is mounted to the second housing 300a of the adapter assembly 300, and then the position of the rotary member 10 in the axial direction thereof is detected, and when the rotary member 10 is not at the preset position A0, the detected portion of the rotary member 10 is located on the side facing away from the surgical instrument 200 with respect to the preset position A0 under the pressing of the second input disc 52, the rotary member 10 is rotated in a preset second manner, such as forward and/or reverse, so that the rotary member 10 is moved to the preset position A0 in the axial direction thereof, that is, the mounting of the surgical instrument 200 and the coupling of the first input disc 51 are completed.

Generally, when the power device 100 is powered on, the motor M drives the rotating member 10 to rotate to the zero position, the second detecting member 60 is used to detect the zero position of the rotating member 10, and the target point portion T is disposed on the rotating member 10, and when the motor M drives the rotating member 10 to rotate to the zero position, the target point portion T rotates to be opposite to the second detecting member 60. Before the drive input interface 50 is mounted to the coupling end 10S of the rotator 10 of the power device 100, the rotator 10 may be rotated until the target point T is detected by the second detecting means 60, so that the rotator 10 returns to the zero position for the next operation.

The target portion T may be a through hole penetrating through the axial direction of the rotating member 10, the second detecting component 60 includes a transmitting end 61 and a receiving end 62, the transmitting end 61 and the receiving end 62 are respectively disposed on two sides of the target portion T along the axial direction of the rotating member 10, when the signal sent by the transmitting end 61 is received by the receiving end 62, the target portion T is described as rotating between the transmitting end 61 and the receiving end 62, otherwise, the target portion T is not considered to be opposite to the second detecting component 60. Here, the target portion T may be provided on the annular detected portion 101, with the transmitting end 61 and the receiving end 62 being located on both sides of the detected portion 101 in the axial direction, respectively, sandwiching the detected portion 101 therebetween, and the axial movement gap 600 reserved for the detected portion 101 being formed between the transmitting end 61 and the receiving end 62. The rotary member 10 rotates to a zero position, specifically, the target portion T is detected by the second detecting member 60.

In addition to the possibility of zeroing the rotor 10 when the power plant 100 is powered up, the rotor 10 may also need to be zeroed after the adapter assembly 300 is mounted to the first housing 100a and the second input disc 52 is successfully coupled to the rotor 10. Returning the rotary member 10 to the zero position before mounting the surgical instrument 200 may enable the surgical instrument 200 to be directly in driving engagement with the adaptor assembly 300 after being mounted to the adaptor assembly 300, or may be coupled with the corresponding first input disc 51 only by correcting the rotation angle of the rotary member 10 by a small extent, so that the engagement efficiency of the surgical instrument may be improved. Specifically, when the adapter assembly 300 is mounted to the first housing 100a and the first detecting member 30 detects that the second input disc 52 of the adapter assembly 300 is in driving engagement with the rotating member 10, the rotating member 10 is controlled to rotate in the zero direction, so that the target point T is detected by the second detecting member 60. In some embodiments, the rotational member 10 does not return to zero before the surgical instrument 200 is installed, and it may be necessary to align and couple the first input disc 51 with the corresponding second input disc 52 after the surgical instrument 200 is installed, which may take more time.

The rotary members 10 include first rotary members 10A and second rotary members 10B, each rotary member 10 corresponding to one of the drive input interfaces 50, one of the first detecting members 30, and one of the second detecting members 60, respectively, the first rotary member 10A including the rotary member 10 configured to drive the end effector of the surgical instrument 200 to perform non-rotation movements such as pitching, yawing, opening, and closing, and the second rotary member 10B including the rotary member 10 configured to drive the end effector of the surgical instrument 200 to perform rotation movements. During engagement of the drive input interface 50, when the surgical instrument 200 is mounted to the adapter assembly 300 and the first detection member 30 detects that the drive input interface 50 is coupled to the first rotary member 10A, the first rotary member 10A may be rotated to a zero position: if the target point part T is detected by the second detection part 60, the first rotating member 10A does not rotate any more, otherwise, the first rotating member 10A is controlled to rotate until the target point part T is detected by the second detection part 60, so that the first rotating member 10A returns to the zero position; however, after the surgical device 200 is mounted to the adapter assembly 300, and the first detecting component 30 detects that the driving input interface 50 is coupled to the second rotating member 10B, if the target point T is located within the preset angle interval α, the second rotating member 10B is not rotated any more, otherwise, the second rotating member 10B is controlled to rotate until the target point T is located within the preset angle interval α. The preset angle interval α may be defined according to data such as an encoder of the motor M, and whether the target point T is located within the preset angle interval α may also be calculated by pushing according to a rotation angle of the motor M.

When the surgical robot includes the adapter assembly 300, the second input disc 52 of the adapter assembly 300 has axial and circumferential degrees of freedom. After the adapter assembly 300 is mounted to the first housing 100a, when the second input disc 52 is not coupled to the rotating member 10, the rotating member 10 is controlled to rotate in a preset first manner, when the rotating member 10 rotates to be coupled to the second input disc 52, the preset rotation of the rotating member 10 is interrupted, the preset first manner may be, for example, forward and reverse rotation to perform scanning, such as scanning M times, where returning from the initial position to the limit position to the initial position is referred to as scanning, returning from the initial position to the forward scanning or to the reverse scanning is referred to as scanning once, and the angle of the unidirectional scanning of the rotating member 10 does not exceed the first angle threshold a; subsequently, when the first input disc 51 is not coupled with the second input disc 52, the rotary member 10 is controlled to rotate in a preset second manner, which may be, for example, forward and reverse rotation scanning, such as scanning N times, the unidirectional scanning angle of the rotary member 10 does not exceed the second angle threshold b, wherein M, N is not less than 1 time, when the rotary member 10 rotates to be coupled with the first input disc 51, the preset rotation of the rotary member 10 is interrupted. The first angle threshold a is greater than the second angle threshold b to avoid uncontrolled unintended movement of the end effector at the wound.

It will be appreciated that in some embodiments, the process of coupling the surgical instrument to the power device may also be: when it is detected that the adapter assembly 300 is mounted to the first housing 100a, the rotation member 10 is controlled to rotate forward and backward to scan, regardless of whether the second input disc 52 is coupled to the rotation member 10, and the unidirectional scanning angle of the rotation member 10 does not exceed the first angle threshold a; upon detecting that the surgical instrument 200 is mounted to the adapter assembly 300, the rotating member 10 is controlled to rotate forward and backward for scanning regardless of whether the first input disc 51 is coupled to the second input disc 52, the unidirectional scan angle of the rotating member 10 does not exceed the second angular threshold b, which is also less than the first angular threshold a.

Further, considering that after the surgical device 200 is mounted to the adapter assembly 300 and in driving engagement with the adapter assembly 300, in one embodiment, the first rotary member 10A needs to be rotated to a zero position, the coupling process of the surgical device and the power device may also be: when the first rotating member 10A is coupled to one of the second input discs 52 and the corresponding first input disc 51 is not coupled to the first rotating member 10A after being mounted to the corresponding second input disc 52, controlling the first rotating member 10A to rotate in a preset third manner, in the process, once the first detecting unit 30 detects that the first input disc 51 is coupled to the second input disc 52, immediately interrupting the preset rotation of the first rotating member 10A, controlling the rotating member 10 to rotate toward the zero position, and stopping the rotation when the first rotating member 10A rotates to the target point T detected by the second detecting unit 60; when the second rotating member 10B is coupled to the other second input disc 52 and the corresponding first input disc 51 is not coupled to the second rotating member 10B after being mounted to the corresponding second input disc 52, the second rotating member 10B is controlled to rotate in a preset fourth manner, and when the second rotating member 10B rotates to be coupled to the corresponding first input disc 51, the preset rotation of the second rotating member 10B is interrupted, and the second rotating member 10B is controlled to rotate until the target portion T is located within the preset angle interval α. That is, once the first detection member 30 detects that the first input disc 51 is coupled to the second input disc 52, the rotary member 10 is rotated in the direction of the zero position, regardless of whether it is about to rotate forward or reverse, until the target portion T is detected by the second detection member 60, the orientation of the zero position may be determined at the time of power up of the power device 100 in conjunction with an encoder or the like. In this way, the rotating member 10 can return to the zero position in the shortest time and the shortest rotation path after the first input disc 51 and the second input disc 52 are coupled, and no redundant action is performed, without waiting for the rotating member 10 to scan a certain angle threshold, so that the installation efficiency and the safety are improved.

In some embodiments, when the surgical device 200 is mounted to the adapter assembly 300 and the first detection member 30 detects that the first input disc 51 is coupled to the first rotator 10A, the first rotator 10A immediately stops rotating and does not return to the zero position. The combination process of the surgical instrument and the power device can also be as follows: when the first rotating member 10A is coupled to one of the second input discs 52 and the corresponding first input disc 51 is not coupled to the first rotating member 10A after being mounted to the corresponding second input disc 52, the first rotating member 10A is controlled to rotate in a preset third manner, and when the first rotating member 10A rotates to be coupled to the corresponding first input disc 51, the preset rotation of the first rotating member 10A is interrupted, and the rotation of the first rotating member 10A is stopped, and the rotation of the rotating member 10 toward the zero position is no longer controlled; when the second rotating member 10B is coupled to the other second input disc 52 and the corresponding first input disc 51 is not coupled to the second rotating member 10B after being mounted to the corresponding second input disc 52, the second rotating member 10B is controlled to rotate in a preset fourth manner, and when the second rotating member 10B rotates to be coupled to the corresponding first input disc 51, the preset rotation of the second rotating member 10B is interrupted, and the target portion T of the second rotating member 10B is controlled to rotate within the preset angle interval α. That is, once the first detecting part 30 detects that the first input disc 51 is coupled with the second input disc 52, the rotation is directly stopped regardless of whether the rotary member 10 is about to rotate forward or backward, and the next master-slave alignment command is waited for. When all the drive input interfaces 50 of the surgical instrument 200 are coupled with the rotating members 10 corresponding to the power devices, and the target point T of the second rotating member 10B is located within the set angle interval α, the next master-slave alignment operation can be performed to align the posture of the operating portion 1a with the posture of the slave operating device 2.

For example, a circumferential recess 520 may be formed on the outer peripheral surface of each second input disc 52, a part of the axial vibration member 302 is disposed in the second housing 300a, and another part of the axial vibration member 302 extends into the recess 520, when the second input disc 52 is coupled to the rotating member 10 and the second input disc 52 is coupled to the first input disc 51, the rotating member 10 is at the preset position A0, and the axial vibration member 302 may not contact the recess 520, so that the rotation of the second input disc 52 is not affected, and when the rotating member 10 is not at the preset position A0, the axial vibration member 302 drives the second input disc 52 to vibrate slightly in the axial direction and rotate in the forward and reverse directions in cooperation with the rotating member 10, so that the rotating member 10, the second input disc 52, and the first input disc 51 may be coupled. Thus, the process of combining the surgical instrument with the power device may also be: after the adapter assembly 300 is installed, when the first coupling features C1 and C2 are not aligned with the second coupling features D1 and D2, the rotating member 10 is controlled to rotate repeatedly in the forward and reverse directions in a preset manner, and the axial vibration member 302 is started to make the rotating member 10 rotate and vibrate axially relative to the second input disc 52, so that the first coupling features C1 and C2 are aligned with the second coupling features D1 and D2; likewise, after the surgical instrument 200 is installed, when the third coupling features E1, E2 are misaligned with the fourth coupling features F1, F2, the control rotator 10 is repeatedly rotated in forward and reverse directions in a preset manner while the axial vibration member 302 is activated to cause rotation and axial vibration of the second input disc 52 relative to the first input disc 51 to align the third coupling features E1, E2 with the fourth coupling features F1, F2.

Example 4

The present embodiment provides a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by at least one processor and to perform the steps of the method of detecting an engagement state of a power plant of a surgical robot and/or the method of engaging a power plant of a surgical robot described above, the computer readable storage medium being part of an engagement force control system. The processor may be a central processor Central Processing Unit, CPU, controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor is typically used to control the overall operation of the computing device. In this embodiment, the processor is configured to execute program codes stored in a storage medium or process data.

As shown in fig. 12, the present embodiment provides a computing device, where the computing device includes a memory 3 and a processor 4, where the memory 3 may be a computer readable storage medium as described above, and where a plurality of instructions are stored, where the instructions are adapted to be loaded by at least one processor 4 and to perform the steps of the detection method and/or the joining method described above.

Example 5

As shown in fig. 13, the present embodiment provides a control method of a surgical robot, the control method including:

S11, judging whether the driving input interface 50 is coupled with the rotating member 10 according to the detection result of the first detection component 30;

s12, after all the driving input interfaces 50 of the surgical instrument 200 are coupled to the rotating members 10 corresponding to the power devices, the posture of the operating portion 1a is aligned with the posture of the slave operating device, and the posture alignment step may be performed by the controller 40 or another controller.

The rotary member 10 includes a first rotary member 10A and a second rotary member 10B, each of the first rotary member 10A and the second rotary member 10B corresponding to one of the second input disc 52 and the first input disc 51, respectively. In order to facilitate the next master-slave alignment procedure, after all the driving input interfaces 50 of the surgical instrument 200 are coupled to the rotating members 10 corresponding to the power devices, before the gesture of the operating portion 1a is aligned with the gesture of the slave operating device 2 in step S12, it is further required to detect whether the target portion T of the second rotating member 10B rotates within the preset angle interval α, and when the target portion T of the second rotating member 10B rotates within the preset angle interval α, the gesture of the operating portion is aligned with the gesture of the slave operating device, otherwise, the gesture alignment step is not performed. In addition, the control method further includes a step of controlling the power device to be combined with the surgical instrument, which is described in detail in the above-described embodiment 3.

It can be understood that the basis for determining whether the driving input interface 50 is coupled to the rotating member 10 in step S11 of the present embodiment includes, but is not limited to, relying on the detection of the first detecting member 30, and the detection result of the first detecting member 30 may be replaced by other manners, for example, may be determined according to the resistance moment between the driving input interface 50 and the rotating member 10, and when the resistance moment therebetween reaches the preset threshold, the driving input interface 50 is considered to be coupled, otherwise, it is determined that the driving input interface is not coupled; or judging according to the current of the motor M, when the current of the motor M reaches a preset current value, judging that the motor M and the motor M are coupled, otherwise, judging that the motor M and the motor M are not coupled; alternatively, the first input disc 51 of the surgical instrument 200 may be determined according to a distance between the first input disc and the rotating member 10, and when the distance between the first input disc and the rotating member is smaller than a preset distance threshold, the first input disc and the rotating member are considered to be coupled, otherwise, it is determined that the first input disc and the rotating member are not coupled.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A power unit for a surgical robot, comprising:

A first housing (100 a);

a rotating member (10) rotatably arranged on the first housing (100 a) and comprising a target portion (T) and an axial coupling end portion (10S), the coupling end portion (10S) being configured to couple with a drive input interface (50) providing torque to a surgical instrument (200);

an axial bias (20) configured to provide a resilient bias for the rotary member (10) towards a surgical instrument (200);

a first detection member (30) configured to detect a position of the rotary member (10) in an axial direction thereof;

a second detection member (60) configured to be directly opposite to the target portion (T) when the rotary member (10) is rotated to a zero position;

a controller (40) configured to:

before installing the drive input interface (50), rotating the rotating member (10) until the target point (T) is detected by the second detecting means (60);

when the detected part of the rotating member (10) is positioned at the side opposite to the surgical instrument (200) relative to the preset position, the rotating member (10) is rotated in a preset manner so that the rotating member (10) moves to the preset position along the axial direction thereof.

2. The power unit according to claim 1, characterized in that the drive input interface (50) comprises a first input disc (51) provided on a surgical instrument (200), the first input disc (51) and the rotating member (10) being coupled by cooperation of concave and convex features of the end faces towards each other;

The controller (40) is configured to:

after the surgical instrument (200) is installed in the power unit, it is determined whether the first input disc (51) is coupled with the rotating member (10) according to the detection result of the first detection part (30).

3. The power plant of claim 1, further comprising an adapter assembly (300), the adapter assembly (300) comprising a second housing (300 a) removably mounted to the first housing (100 a) and a second input disc (52) rotatably disposed on the second housing (300 a);

the drive input interface (50) comprises the second input disc (52), the second input disc (52) being coupleable with the rotating member (10) by mating of female and male features facing each other end faces to transfer torque between the rotating member (10) and a surgical instrument (200);

the controller (40) is configured to:

after the second housing (300 a) is mounted to the power device, it is determined whether the second input disc (52) is coupled with the rotary member (10) according to the detection result of the first detection member (30).

4. A power unit according to claim 3, characterized in that the second input disc (52) is coupled with a first input disc (51) provided on a surgical instrument (200) by cooperation of female and male features facing each other, the second input disc (52) having a degree of freedom in the axial direction of the second housing (300 a);

The controller (40) is configured to:

after the second input disc (52) is coupled with the rotating member (10) and the surgical instrument (200) is mounted on the power device, whether the first input disc (51) is coupled with the second input disc (52) is judged according to the detection result of the first detection part (30).

5. The power device according to claim 1, characterized in that the detection end of the first detection member (30) is provided on a side facing away from the surgical instrument (200) with respect to the rotation member (10), and that a space is provided between the detection end of the first detection member (30) and the rotation member (10) in the axial direction of the rotation member (10).

6. The power plant according to claim 1, characterized in that the first detection means (30) are configured to detect whether a detected portion of the rotating member (10) is sensed; the controller (40) is configured to: when the first detecting part (30) senses a detected part of the rotating member (10), it is determined that the driving input interface (50) is not coupled with the rotating member (10).

7. The power device according to claim 1, characterized in that the first detection means (30) is configured to detect a distance between it and the detected part (101); the controller (40) is configured to: when the first detection part (30) detects that the distance between the first detection part and the rotating member (10) is smaller than a preset distance, the driving input interface (50) is not coupled with the rotating member (10).

8. The power device of claim 1, further comprising an adapter assembly (300) removably mounted to the first housing (100 a), the adapter assembly (300) configured to transfer torque between the rotating member (10) and a surgical instrument (200);

the controller (40) is configured to:

after the adapter assembly (300) is mounted to the first housing (100 a), and the first detection component (30) detects that the adapter assembly (300) is in driving engagement with the rotating member (10), the rotating member (10) is controlled to rotate until the target portion (T) is detected by the second detection component (60).

9. The power plant according to claim 1, further comprising an adapter assembly (300), the adapter assembly (300) comprising a second input disc (52), the surgical instrument (200) comprising a first input disc (51), the first input disc (51) being coupleable with the rotating member (10) via the second input disc (52);

the controller (40) is configured to:

controlling the rotation of the rotation member (10) in a preset first manner when the second input disc (52) is mounted to the rotation member (10) and is not coupled to the rotation member (10), and interrupting the preset rotation of the rotation member (10) when the rotation member (10) rotates to be coupled to the second input disc (52); and/or the number of the groups of groups,

When the rotating member (10) is coupled with the second input disc (52), and the first input disc (51) is mounted on the second input disc (52) and is not coupled with the rotating member (10), the rotating member (10) is controlled to rotate in a preset second mode, and when the rotating member (10) rotates to be coupled with the first input disc (51), the preset rotation of the rotating member (10) is interrupted.

10. The power plant according to claim 9, characterized in that the rotating members (10) comprise a first rotating member (10A) and a second rotating member (10B), each rotating member (10) corresponding to a second input disc (52) and a first input disc (51), respectively;

the controller (40) is configured to:

when the first rotating member (10A) is coupled with one second input disc (52) and the corresponding first input disc (51) is not coupled with the first rotating member (10A) after being mounted on the corresponding second input disc (52), controlling the first rotating member (10A) to rotate according to a preset third mode, and when the first rotating member (10A) rotates to be coupled with the corresponding first input disc (51), interrupting the preset rotation of the first rotating member (10A) and controlling the first rotating member (10A) to rotate to the target point (T) to be detected by the second detecting component (60);

When the second rotating member (10B) is coupled with another second input disc (52) and the corresponding first input disc (51) is not coupled with the second rotating member (10B) after being mounted on the corresponding second input disc (52), the second rotating member (10B) is controlled to rotate according to a preset fourth mode, and when the second rotating member (10B) rotates to be coupled with the corresponding first input disc (51), the preset rotation of the second rotating member (10B) is interrupted, and the second rotating member (10B) is controlled to rotate until the target point (T) is located in a preset angle interval (alpha).

11. The power plant according to claim 9, characterized in that the rotating members (10) comprise a first rotating member (10A) and a second rotating member (10B), each rotating member (10) corresponding to a respective one of a second input disc (52) and a first input disc (51);

the controller (40) is configured to:

when the first rotating member (10A) is coupled with one second input disc (52) and the corresponding first input disc (51) is not coupled with the first rotating member (10A) after being mounted on the corresponding second input disc (52), controlling the first rotating member (10A) to rotate according to a preset third mode, and when the first rotating member (10A) rotates to be coupled with the corresponding first input disc (51), interrupting the preset rotation of the first rotating member (10A) and stopping rotating the first rotating member (10A);

When the second rotating member (10B) is coupled with another second input disc (52) and the corresponding first input disc (51) is not coupled with the second rotating member (10B) after being mounted on the corresponding second input disc (52), the second rotating member (10B) is controlled to rotate according to a preset fourth mode, and when the second rotating member (10B) rotates to be coupled with the corresponding first input disc (51), the preset rotation of the second rotating member (10B) is interrupted, and the target point part (T) of the second rotating member (10B) is controlled to rotate within a preset angle interval (alpha).

12. The power plant of claim 9, wherein the first mode and the second mode each include scanning in forward and reverse rotation, wherein the angle of unidirectional scanning in the first mode does not exceed a first angle threshold (a), wherein the angle of unidirectional scanning in the second mode does not exceed a second angle threshold (b), and wherein the first angle threshold (a) is greater than the second angle threshold (b).

13. A power unit according to claim 3, further comprising an indication device (301), wherein the first housing (100 a) is provided with a first signal terminal (P1), the switching assembly (300) comprises a second signal terminal (P2), the surgical instrument (200) comprises a third signal terminal (P3), and the indication device (301) is provided on the switching assembly (300) and is electrically connected to the second signal terminal (P2);

The second signal terminal (P2) is capable of communicating with the first signal terminal (P1) after the adapter assembly (300) is mounted to the first housing (100 a) and with the third signal terminal (P3) after the surgical instrument (200) is mounted to the adapter assembly (300);

the controller (40) is configured to:

after the adapter assembly (300) is mounted to the first housing (100 a) and/or after the surgical instrument (200) is mounted to the adapter assembly (300), the indication state of the indication device is switched according to the detection result of the first detection component (30).

14. A power plant according to claim 3, characterized in that the edges of the face of the second input disc (52) having concave or convex features are convexly provided with a number of first bosses (521), the surface of the second housing (300 a) facing the face of the second input disc (52) having concave or convex features being convexly provided with a number of second bosses (3000), the second bosses (3000) being configured to limit the rotation of the second input disc (52) when the first bosses (521) are embedded between two of the second bosses (3000).

15. A surgical robot comprising a surgical instrument (200) and a power device according to any of claims 1-14, the surgical instrument (200) being configured to perform a corresponding action upon actuation of the power device.

16. A method of engaging a power plant of a surgical robot, the power plant comprising:

a rotating member (10) comprising an axial coupling end (10S);

an axial bias (20) configured to provide a resilient bias for the rotary member (10) toward the surgical instrument (200) and to deform more when a drive input interface (50) providing torque to the surgical instrument (200) is coupled to the rotary member (10);

the bonding method includes:

detecting the position of a rotating member (10) of a power plant in the axial direction of the rotating member (10) after a drive input interface (50) is mounted to the rotating member;

17. The joining method according to claim 16, characterized in that said power plant further comprises a second detection member (60), said rotary member (10) being provided with a target portion (T);

the bonding method includes:

before the drive input interface (50) is installed, the rotating member (10) is rotated until the target point (T) is detected by the second detection means (60).

18. The method of engagement according to claim 16, wherein the drive input interface (50) comprises a first input disc (51) provided on a surgical instrument (200), the first input disc (51) and the rotating member (10) being coupled by mating of concave and convex features of facing end surfaces.

19. The method of engagement according to claim 16, wherein the power device further comprises an adapter assembly (300), the adapter assembly (300) comprising a second input disc (52) having axial and circumferential degrees of freedom, the second input disc (52) being coupleable with the rotating member (10) by mating of concave and convex features of facing each other, the second input disc (52) being coupled with a first input disc (51) provided on a surgical instrument (200) by mating of concave and convex features of facing each other;

the bonding method includes:

-mounting the adapter assembly (300) to the power plant;

detecting the position of the rotating member (10) in the axial direction thereof;

rotating the rotating member (10) in a preset first mode when the detected part of the rotating member (10) is positioned at one side opposite to the surgical instrument (200) relative to a preset position, so that the rotating member (10) moves to the preset position along the axial direction of the rotating member;

Mounting a surgical instrument (200) to the adapter assembly (300);

when the detected part of the rotating member (10) is positioned at one side opposite to the surgical instrument (200) relative to the preset position, the rotating member (10) is rotated in a preset second mode so that the rotating member (10) moves to the preset position along the axial direction of the rotating member.

20. The joining method according to claim 19, characterized in that said power plant further comprises a second detection member (60), said rotary member (10) being provided with a target portion (T);

the bonding method includes:

when the switching assembly (300) is installed on the power device and the rotating piece (10) is located at the preset position along the axial direction of the switching assembly, the rotating piece (10) is controlled to rotate until the target point part (T) is detected by the second detection component (60).

21. The bonding method according to claim 19, characterized by further comprising:

interrupting a preset rotation of the rotating member (10) when the rotating member (10) moves to the preset position in the axial direction thereof after rotating the rotating member (10) in a preset first manner; and/or the number of the groups of groups,

after rotating the rotating member (10) in a preset second manner, the preset rotation of the rotating member (10) is interrupted when the rotating member (10) moves to the preset position in the axial direction thereof.

22. The joining method according to claim 21, characterized in that said power plant further comprises a second detection member (60), said rotary member (10) being provided with a target portion (T);

the rotating parts (10) comprise a first rotating part (10A) and a second rotating part (10B), and each rotating part (10) corresponds to one second input disc (52) and one first input disc (51) respectively;

the bonding method includes:

23. The joining method according to claim 21, characterized in that said power plant further comprises a second detection member (60), said rotary member (10) being provided with a target portion (T);

the bonding method includes:

24. A control method of a surgical robot, characterized in that the surgical robot includes an operation section and a slave operation device including:

a plurality of rotating members (10), each rotating member (10) comprising an axial coupling end (10S);

a plurality of axial biasing members (20), each axial biasing member (20) configured to provide a resilient bias for the rotary member (10) toward the surgical instrument (200) and to deform more when a drive input interface (50) providing torque for the surgical instrument (200) is coupled with the coupling end (10S);

a plurality of first detecting members (30), each of the first detecting members (30) being configured to detect a position of one of the rotary members (10) in an axial direction thereof;

the control method comprises the following steps:

judging whether a driving input interface (50) is coupled with the rotating member (10) according to the detection result of the first detection part (30);

when all drive input interfaces (50) of the surgical instrument (200) are coupled with corresponding rotating members (10) of the power device, the posture of the operating part is aligned with the posture of the slave operating device.

25. The control method according to claim 24, characterized in that the rotating member (10) comprises a first rotating member (10A) and a second rotating member (10B), each rotating member (10) corresponding to a respective one of a second input disc (52) and a first input disc (51);

After all drive input interfaces (50) of the surgical instrument (200) are coupled with corresponding rotating members (10) of the power device, before aligning the posture of the operation portion with the posture of the slave operation device, the control method further includes:

detecting whether a target point part (T) of the second rotating piece (10B) rotates to be within a preset angle interval (alpha);

when the target point part (T) of the second rotating part (10B) rotates to be within a preset angle interval (alpha), the gesture of the operation part is aligned with the gesture of the slave operation device, otherwise, the gesture alignment step is not executed.