CN117122416A - Automatic nail feeding system of surgical robot - Google Patents

Abstract

The application provides an automatic nailing system of a surgical robot, which comprises a machine base, a control unit, a mechanical arm, an arm driving source, an end effector and a nailing device, wherein the control unit and the mechanical arm are both arranged on the machine base; the distal end of the mechanical arm is provided with a rotatable wrist joint, the arm driving source comprises a rotation driving source in transmission connection with the wrist joint, and the end effector is fixed with the wrist joint. According to the application, the control unit can control the movement track of the mechanical arm through controlling the arm driving source, and the mechanical arm drives the end effector, the nailing device and the endophyte screw to move together, so that the endophyte screw connected to the far end of the nailing device can be automatically and accurately implanted into a patient, automatic nailing is realized, and the implantation efficiency of the endophyte screw is further effectively improved.

Description

Automatic nail feeding system of surgical robot

Technical Field

The application relates to the field of medical instruments, in particular to an automatic nailing system of a surgical robot.

Background

Currently, surgical robots are commonly used in implanting screws into patients. However, the existing surgical robot can only provide an auxiliary navigation function, the direction of the nail path can be guided by the guide, but the nailing process of the screw implanted in the body still needs manual operation by an operator, and the implantation depth of the screw in the body still needs manual control by the operator. Therefore, the existing surgical robots cannot accomplish the automation and accurate implantation of the screws.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present application is to provide an automatic surgical robot stapling system capable of automatically and precisely completing screw implantation.

In order to achieve the above-mentioned purpose, the present application provides an automatic nailing system of a surgical robot, comprising a machine base, a control unit and a mechanical arm both installed on the machine base, an arm driving source for driving the mechanical arm to move, an end effector installed at the distal end of the mechanical arm, and a nailing device installed at the distal end of the end effector, wherein the arm driving source is in communication connection with the control unit, the distal end of the nailing device is provided with a screw connection part, and the screw connection part is used for being detachably connected with a plant screw; the distal end of the mechanical arm is provided with a rotatable wrist joint, the arm driving source comprises a rotation driving source in transmission connection with the wrist joint, and the proximal end of the end effector is fixed with the distal end of the wrist joint.

The preferable scheme of the technical scheme is as follows: the wrist joint is provided with a force sensor which is in communication connection with the control unit.

The preferable scheme of the technical scheme is as follows: the end effector comprises a proximal joint, an expansion joint, a connecting joint and a quick-change handle which are fixedly connected in sequence along the direction from the proximal end to the distal end, wherein the proximal joint is fixedly connected with the wrist joint, and the distal end of the quick-change handle is detachably connected with the proximal end of the nailing device.

The preferable scheme of the technical scheme is as follows: positioning components are arranged between the proximal connector and the expansion connector, between the expansion connector and the connecting connector and between the connecting connector and the quick-change handle.

The preferable scheme of the technical scheme is as follows: the proximal joint is fixedly connected with the expansion joint, the expansion joint is fixedly connected with the connecting joint, and the connecting joint is fixedly connected with the quick-change handle through a plurality of screws.

The preferable scheme of the technical scheme is as follows: the remote end of the quick-change handle is provided with an inner sleeve and a disassembly and assembly button connected with the inner sleeve, a connecting hole is formed in the inner sleeve, and the proximal end of the nailing device is detachably inserted into the connecting hole.

The preferable scheme of the technical scheme is as follows: the automatic surgical robot nailing system further comprises a vision system arranged at the far end of the mechanical arm and a display arranged on the machine base, wherein the vision system is used for acquiring images of the end effector, the nailing device and the endophyte screw, and the vision system and the display are in communication connection with the control unit.

The preferable scheme of the technical scheme is as follows: the automatic nailing system of the surgical robot further comprises a positioning device arranged on the machine base, and the positioning device is in communication connection with the control unit.

The preferable scheme of the technical scheme is as follows: the nail loading device comprises a bottle opener rod and a sleeve which is movably and rotatably sleeved on the periphery of the bottle opener rod, wherein the proximal end of the bottle opener rod is connected with the distal end of the end effector, and the sleeve is detachably connected with a plant screw through the screw connecting part.

The preferable scheme of the technical scheme is as follows: the proximal end of the sleeve is fixedly provided with a rotary knob.

As described above, the surgical robot automatic stapling system according to the present application has the following advantageous effects:

according to the application, the control unit can control the movement track of the mechanical arm through controlling the arm driving source, and the mechanical arm drives the end effector, the nailing device and the endophyte screw to move together, so that the nailing direction can be accurately controlled, the endophyte screw connected to the far end of the nailing device can be automatically and accurately implanted into a patient, automatic nailing is realized, and the implantation efficiency of the endophyte screw is effectively improved.

Drawings

Fig. 1 is a schematic structural view of an automatic stapling system of a surgical robot according to the present application.

FIG. 2 is a schematic view of the connection between the distal end of the manipulator arm, the end effector and the tacker according to the present application.

FIG. 3 is a schematic view of the end effector of the present application.

FIGS. 4-6 are schematic views of the connection between the proximal connector, the expansion connector and the connection connector of the present application; wherein, fig. 4 and 5 are both exploded views, and fig. 6 is a sectional view.

Fig. 7 is a schematic structural view of the quick-change handle in the present application.

Fig. 8 is a schematic view of the structure of the nailing device in the present application.

Fig. 9 is an enlarged view of circle a of fig. 8.

Fig. 10 is a schematic structural view of an endo-plant screw according to the present application.

FIG. 11 is a schematic illustration of the attachment of the upper nailing machine to the endophyte screw of the present application with the illustration being a cross-sectional view.

Fig. 12 is a schematic view of the automatic stapling system of the surgical robot of the present application.

Description of element reference numerals

10 machine base

11 moving wheel

20 control unit

30 mechanical arm

31 wrist joint

32 force sensor

40 end effector

41 proximal joint

411 first shaft portion

412 first hub portion

42 expansion joint

421 second shaft portion

422 second hub portion

43 connection joint

431 third shaft portion

432 third shaft hub

433 circular inner hole

44 quick-change handle

441 connecting tube

442 ratchet assembly

443 dismounting button

444 inner sleeve

445 rotary sleeve

446 connecting hole

45 first positioning pin

46 second positioning pin

47 third locating pin

50 nailing device

51 screwdriver rod

511 insert

512 spacing boss

52 sleeve

521 external thread section

522 turn knob

53 stop block

54 fixing pin

60-in plant screw

61 nail rod

62 nail seat

621 clamping groove

622 internal thread segment

70 display

80 positioning device

Detailed Description

Further advantages and effects of the present application will become apparent to those skilled in the art from the disclosure of the present application, which is described by the following specific examples.

It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the application to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the application, are included in the spirit and scope of the application which is otherwise, without departing from the spirit or scope thereof. Also, the terms such as "upper", "lower", "left", "right", "middle", etc. are used herein for convenience of description, but are not to be construed as limiting the scope of the application, and the relative changes or modifications are not to be construed as essential to the scope of the application.

The application relates to the field of medical instruments, and particularly provides an automatic surgical robot nailing system. In the following examples, "proximal" refers to the end closer to the operator, and "distal" refers to the end farther from the operator, i.e., the operator. Thus, in the view shown in fig. 12, the upper side of the paper surface is the proximal end, and the lower side of the paper surface is the distal end.

As shown in fig. 1, 2 and 12, the surgical robot automatic stapling system according to the present application includes a housing 10, a control unit 20 and a robot arm 30 all installed on the housing 10, an arm driving source driving the robot arm 30 to move, an end effector 40 installed at a distal end of the robot arm 30, and a stapling instrument 50 installed at a distal end of the end effector 40, the arm driving source being communicatively connected to the control unit 20, the distal end of the stapling instrument 50 having a screw connection portion for detachably connecting with a plant screw 60. The proximal end of the mechanical arm 30 is a base, which is fixed on the stand 10, thereby integrally mounting the mechanical arm 30 on the stand 10; the distal end of the mechanical arm 30 is provided with a rotatable wrist joint 31, the arm driving source comprises a rotation driving source in transmission connection with the wrist joint 31, the rotation driving source drives the wrist joint 31 to rotate around the central axis of the wrist joint 31, and the proximal end of the end effector 40 is fixed with the distal end of the wrist joint 31; the wrist joint 31, end effector 40, staple feeder 50, and endoprosthesis 60 are coaxial.

When the automatic stapling system of the surgical robot is operated, as shown in fig. 12, according to the specifications and types of the intra-plant screws 60 planned by the operator, the proper intra-plant screws 60 are selected and connected to the distal end of the stapler 50, and at this time, the intra-plant screws 60 are engaged with the screw connection portion of the distal end of the stapler 50, and the robot arm 30, the end effector 40, the stapler 50 and the intra-plant screws 60 are sequentially connected in the proximal-to-distal direction. According to the preset nail path and depth of the operator, the control unit 20 controls the output of the arm driving source, and further controls the movement track of the mechanical arm 30, and the mechanical arm 30 drives the end effector 40, the nailing device 50 and the endo-plant screw 60 to move together, so that the movement track of the end effector 40, the nailing device 50 and the endo-plant screw 60 is controlled, the nail path direction can be accurately controlled, and the endo-plant screw 60 can be automatically and accurately implanted into the preset position in the patient. The control unit 20 controls the rotation driving source to act, the rotation driving source drives the wrist joint 31 to rotate, and the wrist joint 31 drives the end effector 40, the nailing device 50 and the endophyte screw 60 to rotate together, so that automatic nailing of the endophyte screw 60 is realized. After the implantation of the endoprosthesis 60 is completed, the screw connection portion between the endoprosthesis 60 and the distal end of the nailing device 50 is unlocked, and the control unit 20 controls the output of the arm driving source again, so that the mechanical arm 30 drives the end effector 40 and the nailing device 50 to exit the working region. Thus, the implantation of the endo-plant screw 60 is completed. Therefore, the automatic screw feeding system of the surgical robot realizes automatic screw feeding of the implanted screw without manual screw feeding of an operator, and the implantation depth of the implanted screw 60 in a patient is automatically controlled by controlling the output of the arm driving source, so that the implantation efficiency of the implanted screw 60 is effectively improved.

Further, as shown in fig. 1, the surgical robot automatic stapling system further includes a vision system mounted at the distal end of the robot arm 30 for capturing images of the end effector 40, the stapler 50, and the endosteal screws 60, and a display 70 and a positioning device 80 both mounted on the housing 10, all communicatively connected to the control unit 20. In the implantation process of the endo-plant screw 60, the control unit 20 displays the images of the end effector 40, the nailing device 50 and the endo-plant screw 60 obtained by the vision system on the display 70 in real time, so that the positions of the end effector 40, the nailing device 50 and the endo-plant screw 60 are visualized in real time, the operation of operators is facilitated, the accuracy and the safety of the screw implantation nailing process are ensured, and the implantation efficiency of the endo-plant screw 60 is improved. The positioning device 80 is used to position the base of the robotic arm 30, the end effector 40, the tacker 50, and the endoprosthesis 60.

Preferably, the control unit 20 may be a computer or an accessory system, and controls the movement of the mechanical arm 30, and the registration of images during preoperative operations. The positioning device 80 can be an optical device or an electromagnetic device to realize position positioning. As shown in fig. 1, a moving wheel 11 is installed at the bottom of the stand 10, so that the whole moving surgical robot can automatically feed nails. In addition, a wrist joint 31 can be arranged at the distal end of the mechanical arm 30, and an end effector 40 is correspondingly connected; alternatively, the distal end of the mechanical arm 30 may be provided with a plurality of wrist joints 31, and then a plurality of end effectors 40 are correspondingly connected, and each wrist joint 31 is correspondingly connected with one end effector 40. The actual number of settings of the wrist joint 31 and end effector 40 is determined based on the integrated installation and removal of the various instruments.

The following describes the preferred structure of the robotic arm 30, end effector 40, staple feeder 50, and endosteal screw 60.

Mechanical arm 30

As shown in fig. 2, in the mechanical arm 30, the rotation driving source drives the wrist joint 31 to rotate around the central axis thereof, that is, drives the wrist joint 31 to rotate around the central axes of the end effector 40, the nailing machine 50 and the endo-plant screw 60, thereby driving the endo-plant screw 60 to rotate together and providing a torsion force for the nailing implantation process of the endo-plant screw 60. In this embodiment, the distal end of the end effector 40 is coupled to a stapling instrument 50 for stapling operations. Of course, in other embodiments, the distal end of end effector 40 may be coupled to a variety of other surgical instruments.

Preferably, as shown in FIG. 2, a force sensor 32 is mounted on the wrist joint 31, the force sensor 32 being communicatively coupled to the control unit 20. The force sensor 32 feeds back the stress condition of the end effector 40 in real time, including force and moment information, and the control unit 20 judges whether the stapling process is successful or not according to the stress condition fed back by the force sensor 32. Such as: when the endophyte screw 60 slips, bone tissue breaks, etc., the real-time torque fed back by the force sensor 32 suddenly decreases, and at this time, the control unit 20 controls the arm driving source to stop acting, so that the mechanical arm 30 stops moving at the first time of the upper nail failure according to the torque change, thereby preventing dangerous situations and further ensuring the safety of the upper nail process.

End effector 40

As shown in fig. 3, the end effector 40 includes a proximal joint 41, an expansion joint 42, a connection joint 43, and a quick-change handle 44 fixedly connected in this order in a proximal-to-distal direction, the proximal joint 41 and the wrist joint 31 being fixedly connected by a plurality of screws, and a distal end of the quick-change handle 44 being detachably connected to a proximal end of the stapler 50. Preferably, the proximal joint 41 and the expansion joint 42 are detachably connected through a plurality of screws, the expansion joint 42 and the connection joint 43 are also detachably connected through a plurality of screws, and the connection joint 43 and the quick-change handle 44 are also detachably connected through a plurality of screws. During daily use, the proximal joint 41 and the wrist joint 31 are not dismounted and are always fixed, the proximal joint 41 and the expansion joint 42 are not dismounted and are always fixed, the connecting joint 43 and the quick-change handle 44 are not dismounted and are always fixed, and when the quick-change handle 44 is sterilized before operation, the connecting screw between the expansion joint 42 and the connecting joint 43 is only required to be dismounted. In this way, the extension joint 42 and the connection joint 43 can be made of wear-resistant materials or corrosion-resistant materials, so that the durability of the extension joint 42 and the connection joint 43 is improved, and the proximal joint 41 is made of conventional light materials, so that the durability of the end effector 40 is realized at low cost; also, even if parts wear due to long term use, only the wear parts need to be replaced, and the end effector 40 as a whole does not need to be replaced, thereby reducing costs.

Further, as shown in fig. 6, positioning components are disposed between the proximal joint 41 and the extension joint 42, between the extension joint 42 and the connection joint 43, and between the connection joint 43 and the quick-change handle 44, and the positioning components are in a hub matching structure, so that coaxiality among the proximal joint 41, the extension joint 42 and the connection joint 43 is ensured, and stability of connection of the end effector 40 and the surgical instruments such as the stapler 50 is ensured. Specifically, the first and proximal joints 41 and the wrist joint 31: as shown in fig. 3 and 4, the proximal joint 41 includes a first shaft 411, and a first boss 412 provided at a proximal end of the first shaft 411, the first boss 412 being positioned with a distal end face of the wrist joint 31 by a first positioning pin 45 and fixed by a plurality of screws. 2. Expansion joint 42 and proximal joint 41: as shown in fig. 4 to 6, the expansion joint 42 includes a second shaft portion 421 extending into the first shaft portion 411, and a second shaft boss portion 422 provided at a distal end of the second shaft portion 421, the first shaft portion 411 is tightly fitted to the second shaft portion 421, and the second shaft boss portion 422 is positioned with a distal end face of the first shaft portion 411 by the second positioning pin 46 and fixed by a plurality of screws. 3. Connection joint 43 and expansion joint 42: as shown in fig. 4 to 6, the connection joint 43 includes a third shaft portion 431 and a third shaft boss portion 432 provided on an outer periphery of the third shaft portion 431, a proximal end of the third shaft portion 431 extends into the second shaft boss portion 422, the both are tightly fitted, and the third shaft boss portion 432 is positioned with a distal end face of the second shaft boss portion 422 by the third positioning pin 47 and fixed by a plurality of screws. 4. Quick change handle 44 and connection fitting 43: as shown in fig. 6 and 7, a circular inner hole 433 penetrating axially is formed in the third shaft portion 431 of the connection joint 43, a connection tube 441 having a circular proximal end of the quick-change handle 44 is formed, and the connection tube 441 extends into the circular inner hole 433 of the third shaft portion 431 and is tightly matched with the circular inner hole 433; the connection pipe 441 and the third shaft portion 431 are fixed to each other by screws or pins that are screwed in the radial direction, or the connection pipe 441 and the third shaft portion 431 are welded to each other.

Further, as shown in fig. 7, the quick-change handle 44 includes a ratchet assembly 442, a disassembly button 443, an inner sleeve 444, and a swivel 445 in addition to the connection tube 441. Wherein, the rotating sleeve 445 is used for connecting a sterile bag or a sterile bag bracket, and the rotating sleeve 445 is rotatably sleeved on the periphery of the connecting pipe 441, thereby preventing the sterile bag from twisting and breaking when the wrist joint 31 of the mechanical arm 30 drives the end effector 40 to rotate. The ratchet assembly 442 acts on the connection tube 441, and when the wrist joint 31 of the mechanical arm 30 drives the connection tube 441 to rotate to an extreme value in one direction through the proximal joint 41, the expansion joint 42 and the connection joint 43, the ratchet assembly 442 acts to limit the rotation of the connection tube 441, so that the connection tube 441 can only rotate to the extreme value; then, the wrist joint 31 of the mechanical arm 30 drives the connection pipe 441 to freely rotate, and then the wrist joint 31 continues to rotate again and applies the stapling torque. Of course, in other embodiments, when the extremum of the wrist joint 31 is not defined, the wrist joint 31 may be continuously rotated, at which point the ratchet assembly 442 may not be provided. The inner sleeve 444 is provided with a connecting hole 446, and the dismounting button 443 is connected with the inner sleeve 444; the tacker 50 can be installed in the connection hole 446 of the inner sleeve 444 or the tacker 50 can be detached from the connection hole 446 when the disassembly button 443 is pushed proximally. The attachment bore 446 of the inner cannula 444 may be configured as a standard interface to allow for quick change of surgical instruments during surgery without removal of the quick change handle 44.

Nail feeding device 50 and endophyte screw 60

As shown in fig. 8, 9 and 11, the nailing device 50 comprises a screwdriver rod 51 and a sleeve 52 movably and rotatably sleeved on the periphery of the screwdriver rod 51, the screwdriver rod 51 axially extends along the direction of the proximal end towards the distal end, and the proximal end of the screwdriver rod 51 is inserted into a connecting hole 446 of an inner sleeve 444 to realize the connection of the proximal end of the screwdriver rod 51 with the distal end of the end effector 40. The distal end of the driver rod 51 is secured with a stop 53 located on the outside of the sleeve 52 and the screw connection is an externally threaded section 521 provided on the distal end of the sleeve 52. As shown in fig. 10, the plant screw 60 comprises a shank 61 and a shank 62 integrally fixed to the proximal end of the shank 61, wherein a slot 621 engaged with the stopper 53 is provided in the shank 62, and an internal thread 622 screwed with the external thread 521 is provided on the inner wall of the shank 62. Preferably, a rotation knob 522 is attached to the proximal end of the sleeve 52 to facilitate manual rotation of the sleeve 52.

When the endophyte screw 60 is arranged on the nailing device 50, the nail seat 62 of the endophyte screw 60 is sleeved on the distal end of the screwdriver rod 51, and the stop block 53 is clamped in the clamping groove 621; after that, the sleeve 52 is screwed into the nail seat 62 of the inner plant screw 60 by rotating the knob 522 until the stop block 53 is pressed on the bottom of the nail seat 62 or the head of the nail rod 61, the stop block 53 and the clamping groove 621 are matched to prevent the deviation of screwing, ensure the coaxiality, the engagement of the inner plant screw 60 and the distal end of the nailing device 50 is realized by the threaded matching between the external thread section 521 of the distal end of the sleeve 52 and the internal thread section 622 of the nail seat 62, the installation of the inner plant screw 60 is completed, and the wrist joint 31 of the mechanical arm 30 can drive the inner plant screw 60 to rotate through the end effector 40 and the nailing device 50 to automatically carry out nailing. After the stapling operation is finished, the sleeve 52 is rotated reversely by rotating the knob 522, the sleeve 52 is rotated out of the seat 62 of the endophyte screw 60, the distal end of the endophyte screw 60 and the stapling instrument 50 is unlocked, and the wrist joint 31 of the mechanical arm 30 can drive the stapling instrument 50 to withdraw through the end effector 40.

Preferably, as shown in fig. 9 and 11, the distal end of the driver rod 51 has a section of insertion portion 511 extending outwardly from the sleeve 52, the nail seat 62 is provided therein with a positioning hole for receiving the insertion portion 511, and the stopper 53 is fixed to the insertion portion 511 by a fixing pin 54. The stop 53 can abut the distal end of the cannula 52; a limiting boss 512 is arranged on the outer peripheral surface of the screwdriver rod 51, the limiting boss 512 is positioned outside the sleeve 52, and the limiting boss 512 can be abutted with the proximal end of the sleeve 52; the sleeve 52 is limited by the stop 53 and the limiting boss 512. The proximal end of the driver rod 51 has a length extending from the sleeve 52 for insertion into the attachment bore 446 of the end effector 40 to ensure the stability of the connection.

The operating principle of the automatic surgical robot nailing system with the structure is as follows: as shown in fig. 12, a proper endo-plant screw 60 is selected according to the specifications and kinds of endo-plant screws 60 planned by the operator; the nail seat 62 of the plant screw 60 is sleeved on the insertion part 511 of the screwdriver rod 51, and the external thread section 521 of the sleeve 52 is screwed into the nail seat 62, so that the plant screw 60 is installed at the far end of the upper nailing device 50; inserting the driver rod 51 into the connection hole 446 of the end effector 40; according to the preset nail path and depth of the operator, the control unit 20 controls the movement track of the mechanical arm 30, and automatically and accurately implants the plant screw 60 into the preset position in the patient; after confirming the position of the endo-plant screw 60 on the display 70, the control unit 20 controls the wrist joint 31 to rotate, the wrist joint 31 drives the end effector 40, the nailing device 50 and the endo-plant screw 60 to rotate together, and the endo-plant screw 60 is automatically nailed into bone tissue; optionally, the operator can operate the mechanical arm 30 by the control unit 20 to apply a certain retraction force along the axial direction of the endo-plant screw 60, so as to assist the operator in judging whether the endo-plant screw 60 has enough pulling resistance, which is of great clinical significance in determining the stability of the endo-fixation system; finally, the sleeve 52 is rotated out of the seat 62 of the endosteal screw 60, and the robotic arm 30 drives the tacker 50 out of the working area.

In summary, the present application effectively overcomes the disadvantages of the prior art and has high industrial utility value.

The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. Accordingly, it is intended that all equivalent modifications and variations of the application be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. An automatic nail system of going up of surgical robot which characterized in that: the device comprises a machine base (10), a control unit (20) and a mechanical arm (30) which are all arranged on the machine base (10), an arm driving source for driving the mechanical arm (30) to move, an end effector (40) arranged at the far end of the mechanical arm (30), and a nailing device (50) arranged at the far end of the end effector (40), wherein the arm driving source is in communication connection with the control unit (20), and the far end of the nailing device (50) is provided with a screw connecting part which is used for being detachably connected with a plant screw (60); the distal end of the mechanical arm (30) is provided with a rotatable wrist joint (31), the arm driving source comprises a rotation driving source in transmission connection with the wrist joint (31), and the proximal end of the end effector (40) is fixed with the distal end of the wrist joint (31).

2. The surgical robotic automatic stapling system of claim 1, wherein: the wrist joint (31) is provided with a force sensor (32), and the force sensor (32) is in communication connection with the control unit (20).

3. The surgical robotic automatic stapling system of claim 1, wherein: the end effector (40) comprises a proximal joint (41), an expansion joint (42), a connecting joint (43) and a quick-change handle (44) which are fixedly connected in sequence along the direction from the proximal end to the distal end, wherein the proximal joint (41) is fixedly connected with the wrist joint (31), and the distal end of the quick-change handle (44) is detachably connected with the proximal end of the nailing device (50).

4. The surgical robotic automatic stapling system of claim 3, wherein: positioning components are arranged between the proximal joint (41) and the expansion joint (42), between the expansion joint (42) and the connecting joint (43) and between the connecting joint (43) and the quick-change handle (44).

5. The surgical robotic automatic stapling system of claim 3, wherein: the proximal joint (41) and the expansion joint (42), the expansion joint (42) and the connecting joint (43) and the quick-change handle (44) are fixedly connected through a plurality of screws.

6. The surgical robotic automatic stapling system of claim 3, wherein: the distal end of the quick-change handle (44) is provided with an inner sleeve (444) and a disassembly and assembly button (443) connected with the inner sleeve (444), the inner sleeve (444) is provided with a connecting hole (446), and the proximal end of the nailing device (50) is detachably inserted into the connecting hole (446).

7. The surgical robotic automatic stapling system of claim 1, wherein: the robot further comprises a vision system and a display (70), wherein the vision system is arranged at the far end of the mechanical arm (30), the display (70) is arranged on the machine base (10) and is used for acquiring images of the end effector (40), the nailing device (50) and the endoprosthesis screw (60), and the vision system and the display (70) are in communication connection with the control unit (20).

8. The surgical robotic automatic stapling system of claim 1, wherein: the device also comprises a positioning device (80) arranged on the stand (10), and the positioning device (80) is in communication connection with the control unit (20).

9. The surgical robotic automatic stapling system of claim 1, wherein: the nailing device (50) comprises a screwdriver rod (51) and a sleeve (52) movably and rotatably sleeved on the periphery of the screwdriver rod (51), the proximal end of the screwdriver rod (51) is connected with the distal end of the end effector (40), and the sleeve (52) is detachably connected with the endophyte screw (60) through the screw connecting part.

10. The surgical robotic automatic stapling system of claim 9, wherein: a rotary knob (522) is fixed at the proximal end of the sleeve (52).