CN218784456U

CN218784456U - Arm system and surgical operation system

Info

Publication number: CN218784456U
Application number: CN202221696248.2U
Authority: CN
Inventors: 郭金榜; 张钊
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2023-04-04
Anticipated expiration: 2032-07-01

Abstract

The present disclosure discloses a robotic arm system comprising a robotic arm, an electric tool, a power source, and a motor driver, the robotic arm having a base end and a tip end; the electric tool is arranged at the tail end of the mechanical arm; the power supply is arranged on one side of the base end of the mechanical arm and used for outputting constant current; the motor driver is arranged at the tail end of the mechanical arm and used for driving a motor of the electric tool; the motor driver is used to convert the constant current into a variable current required by the power tool. The arrangement of the motor driver reduces electromagnetic interference on a current path between the motor driver and the motor, and can meet the clinical use requirement of a surgical operation system.

Description

Arm system and surgical operation system

Technical Field

The present disclosure relates to the field of medical devices, and in particular to a robotic arm system and a surgical system.

Background

In the robot-assisted orthopedic surgery systems, some systems provide mechanical positioning structures carried by mechanical arms, and surgeons operate power tools such as electric swinging saws or electric files to operate bones under the guidance of the mechanical positioning structures; other systems use cooperating robotic arms that carry and guide the power tool, which the surgeon can push directly on the power tool or the end of the robotic arm to manipulate the bone.

Generally, a robotic arm system in a surgical system includes a robotic arm and a trolley. The mechanical arm is a complex electromechanical structure and requires supporting accessories such as a control module and the like. The trolley is used for bearing the mechanical arm and accessories. Power tools do not require much power and therefore dc motors are used more often. Among the direct current motors, the brushless direct current motor has better performance than the brush direct current motor, so the brushless direct current motor is widely applied. However, the brushless dc motor cannot directly use a constant current supplied from a dc power source, and requires a pulsed dc power processed by a driving module. In addition, the normal operation of the brushless direct current motor also requires the control module to receive a control signal to form the required pulse direct current. In a general application environment, a drive module of a machine using the brushless direct current motor can be assembled with the motor in a centralized manner, so that the use of cables between the motor and the drive module can be reduced, and the reduction of inductance loss and electromagnetic interference caused by pulse direct current transmission is facilitated.

However, brushless dc motors have other limitations in the surgical field. For example, surgical tools need to be sterilized prior to surgery, and the sterilization (autoclaving, plasma sterilization, etc.) environment may not be an ideal working environment for components of the drive module or the control module. In addition, the drive module and the control module occupy a certain space, and the surgical tool generally directly acts on the body of the patient, so that the smaller volume is more suitable for the doctor to have a larger visual field and an operation space. The above problems also exist in a surgical system using a robot. Current solutions are known in which the drive module and the control module are separate from the motor, both of which are located remotely from the power tool. This neither increases the volume of the power tool nor requires sterilization of the drive module. Of course, this arrangement makes the aforementioned advantages of the integrated assembly (low inductive losses and low electromagnetic interference) no longer available.

Disclosure of Invention

The present disclosure provides a robot system that solves, at least in part, one of the problems of the related art.

In a first aspect, a robot arm system is provided that includes a robot arm, a power source, and a motor drive. The mechanical arm is provided with a base end and a tail end, and the tail end is used for connecting a power tool for surgical operation; the power supply is arranged on one side of the base end of the mechanical arm and used for outputting constant current; the motor driver is arranged at the tail end of the mechanical arm and used for driving a motor of the electric tool; the motor driver is used to convert the constant current into a variable current required by the power tool.

In a first possible implementation, the current path between the power source and the motor drive is located within the robotic arm.

In a second possible implementation manner, in combination with the above possible implementation manner, a current path between the motor and the motor driver is located in the electric tool.

With reference to the foregoing possible implementation manner, in a third possible implementation manner, the robot further includes a switching device, the electric tool is disposed at the end of the robot arm through the switching device, and the motor driver is disposed in the switching device.

In a fourth possible implementation manner, in combination with the above possible implementation manner, the adapter device has a metal housing.

With reference to the foregoing possible implementation manner, in a fifth possible implementation manner, the adapter device is configured such that when the adapter device is connected to the robot arm, a path is formed between the motor driver and the power supply; when the switching device is connected with the electric tool, a passage is formed between the motor driver and the motor.

In a sixth possible implementation manner, in combination with the above possible implementation manner, the adapter device is detachably connected with the mechanical arm.

With reference to the foregoing possible embodiments, in a seventh possible implementation manner, the adapter device is detachably connected to the actuator.

With reference to the foregoing possible implementation manner, in an eighth possible implementation manner, the adapter device includes a flange assembly, and the flange assembly includes a first flange and a second flange, the first flange is connected to the robot arm, and the second flange is connected to the power tool.

In combination with the above possible embodiments, in a ninth possible implementation, the motor driver is disposed between the first flange and the second flange.

With reference to the foregoing possible implementation manner, in a tenth possible implementation manner, the motor driver includes a first electrical interface and a second electrical interface, the first electrical interface is used for being connected with a power supply, and the second electrical interface is used for being connected with the motor.

In an eleventh possible implementation manner, in combination with the above possible implementation manners, the first electrical interface and the power supply connection, and the second electrical interface and the motor connection are all implemented by spring contact structures.

With reference to the foregoing possible implementation manners, in a twelfth possible implementation manner, the motor driver includes a switching module, an input module, a driving module, a control module, and an output module, where the switching module is configured to be connected to a power supply, and the output module is configured to be connected to a motor.

With reference to the foregoing possible implementation manners, in a thirteenth possible implementation manner, the adaptor module, the input module, the driving module, the control module, and the output module are connected in an inserting manner.

In a second aspect, a surgical system is provided, comprising a robotic arm system, a power tool, a navigation system, and a control system; the arm system is the arm system of the first aspect; the electric tool is connected with the tail end of the mechanical arm; the navigation system is used for measuring the position of the electric tool; the control system is used for driving the mechanical arm to move the electric tool to the target position according to the operation plan.

The arrangement of the motor driver in the mechanical arm system provided by the disclosure not only reduces the electromagnetic interference on a current path between the motor driver and the motor, but also can meet the clinical use requirement of the surgical system.

Drawings

FIG. 1 is a schematic structural view of a surgical system according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a robot system according to an embodiment of the disclosure;

FIG. 3 is a schematic view of a power tool according to an embodiment of the present disclosure;

FIG. 4 is a first schematic structural diagram of an adapter device according to an embodiment of the present disclosure;

FIG. 5 is a cross-sectional view of an adapter device according to an embodiment of the disclosure;

FIG. 6 is a schematic structural diagram of another adapter device according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a motor driver according to an embodiment of the disclosure;

fig. 8 is a schematic structural diagram of a patching module according to an embodiment of the disclosure;

fig. 9 is a first schematic view illustrating the motor driver of the embodiment of the present disclosure disposed in the adapter device;

fig. 10 is a second schematic diagram of the motor driver of the embodiment of the present disclosure disposed in the adapter device;

FIG. 11 is a schematic view of a coupling structure of a power tool and a robot arm according to an embodiment of the disclosure;

FIG. 12 is a schematic view of a coupling structure of a power tool and a robot arm according to an embodiment of the disclosure;

FIG. 13 is a schematic view of a coupling structure of a power tool and a robot arm according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of a flange configuration according to an embodiment of the present disclosure;

fig. 15 is a schematic view of another flange structure according to an embodiment of the disclosure.

Reference numerals: 100-robotic system, 1-trolley body, 101-wheel, 102-robotic interface, 2-power supply, 3-robotic, 301-base end, 302-tip, 4-power tool, 401-motor, 402-electrical interface, 403-flange interface, 5-adapter, 501-first flange, 5011-first receptacle space, 502-second flange, 5021-second receptacle space, 503-connection segment, 504-metal housing, 5041-first connection, 5042-second connection, 6a, 6 b-motor driver, 601-adapter module, 6011-adapter circuit board, 6012-adapter spring pin, 6013-adapter contact, 602-input module, 6021-input circuit board, 6022-input pin, 6023-input spring pin, 603-drive module, 6031-drive circuit board, 6032-first drive pin, 6033-second drive pin, 6034-drive pin, 6041-control pin, 605, 6042-drive module, 6031-drive circuit board, 6032-first drive pin, 6033-second drive pin, 6034-drive pin, 6041-control pin, 6042-output pin, 608-output pin-608-output pin-set-608; 9000-a navigation system; 9200-control system.

Detailed Description

Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the disclosure, and are not intended to limit the disclosure. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by illustrating examples of the present disclosure.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.

It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.

The present disclosure provides a robot arm system including a robot arm, an electric tool, a power source, a motor driver, and a trolley. The mechanical arm has a base end and a tail end, the base end is connected to the trolley, and the tail end is used for connecting the electric tool. The electric tool is arranged at the tail end of the mechanical arm. The power supply is arranged on one side of the base end of the mechanical arm (such as in a trolley) and is used for outputting constant current. The motor driver is arranged at the tail end of the mechanical arm and used for driving a motor of the electric tool. The motor driver is used to convert the constant current into a variable current required by the power tool. The motor drive is located at the end of the robot arm and is separate from the power tool. This shortens the current path length between the motor driver and the motor, reduces electromagnetic radiation and interference, and also allows the power tool to be sterilized separately.

Specifically, as shown in fig. 1 to 11, the robot arm system includes a carriage body 1, a power source 2, a robot arm 3, a power tool 4, a switching device 5, and a motor driver 6.

Referring specifically to fig. 1 and 2, the trolley body 1 is an enclosed frame structure, which is substantially a square. The trolley body 1 comprises wheels 101 and a mechanical arm interface 102, wherein the wheels 101 are arranged at the lower part of the trolley body 1 and are used for moving and transferring the mechanical arm system 100. The robot interface 102 is disposed on an upper surface of the cart and is used for connecting the robot arm 3. Also, the truck body 1 has a large volume and weight as a base of the robot arm 3, so that the center of gravity of the entire robot arm system 100 is stabilized at the truck body 1 portion. When the mechanical arm 3 acts, the trolley body 1 provides stable support for the mechanical arm 3.

The power supply 2 is provided in the carriage body. The power supply 2 is used to output a constant direct current. In this embodiment, the current output by the power supply 2 is a 24v dc power supply.

The robot arm 3 has a plurality of movable joints capable of assisting/replacing a human hand in moving the power tool to a target position within the operation space. The two ends of the mechanical arm 3 are a base end 301 and a tail end 302, respectively, and the base end 301 is a fixed end. During the motion of the robot arm 3, the base end 301 remains stationary while the tip 302 can move within the operating space.

As shown in fig. 3, the power tool 4 is an actuator on which a surgical tool is mounted, and mainly includes a housing, a motor 401, and a surgical tool. The electric power tool 4 is provided with an electric interface 402 and a flange interface 403. The motor 401 is a dc brushless motor. The electrical interface 402 and the flange interface 403 are arranged at the same location, and the current path between the electrical interface 402 and the motor 401 is inside the power tool 4, for example by connecting the electrical interface 402 and the motor 401 by a cable. The flange interface 403 is used to connect the power tool 4 to the tip 302 of the robotic arm 3. As shown in fig. 1, in hip surgery, for preparation of acetabulum, the surgical tool is an acetabular file, and the surgical tool is rotated at high speed by a motor 401 to grind out a predetermined shape for prosthesis installation. In knee joint surgery, the surgical tool is an oscillating saw which is driven by a motor to oscillate at a high speed to cut a target plane. Of course, the power tool 4 is not limited to the above-described actuator for knee osteotomy and actuator for acetabular preparation, but may be other power tools carrying surgical tools, and is not limited thereto.

As shown in fig. 4 to 5, the adapter 5 is a flange structure having a housing, and includes a first flange 501, a second flange 502, a connecting segment 503, and a metal housing 504. The first flange 501 and the second flange 502 are both circular rings, and a first accommodating space 5011 and a second accommodating space 5021 are respectively arranged in the circular rings of the first flange 501 and the second flange 502. The first flange 501 and the second flange 502 are connected by a connecting section 503. The connecting section 503 is plate-shaped and is perpendicularly connected to the first flange 501 and the second flange 502 to form a flange structure having an "H" shaped cross section. The first flange 501 is provided with through holes 5012, and the through holes 5012 are used for allowing bolts to penetrate through and be connected with the mechanical arm 3. The outer periphery of the first flange 501 is provided with threads. The metal casing 504 is sleeve-shaped and wraps around the first flange 501, the second flange 502 and the connecting section 503.

Specifically, in this embodiment, the metal shell 504 is open at two ends and includes a first connection portion 5041 and a second connection portion 5042, the first connection portion 5041 is provided with a thread, and the second connection portion 5042 is provided with a stop edge. The metal shell 504 is sleeved on the periphery of the flange structure along the direction from the second flange 502 to the first flange 501, the first connecting portion 5041 is in threaded connection with the first flange by screwing the metal shell, and screwing is continued until the blocking edge is in contact with the second flange 502 and forms a limit position, so that the metal shell 504 and the flange structure are fixed. As shown in fig. 6, in an alternative embodiment, at one end of the second connecting portion 5042, a locking pin 7 is provided, and the locking pin 7 is used for pressing the flange structure and the flange, and the pressing direction is parallel to the axial direction of the metal shell 504. In this way, the locking pin 7 further fixes the flange structure to the metal case 504, and the flange structure can be prevented from coming off the metal case 504 when the threaded connection between the first connection portion 5041 and the first flange 501 is loosened. Of course, the locking pin 7 may be replaced by a screw, a rivet, a snap ring, or the like.

As shown in fig. 7 to 8, the motor driver 6 is used to drive the motor 401 of the power tool 4, and the motor driver 6 is provided in the adaptor 5. The motor driver 6 comprises a switching module 601, an input module 602, a driving module 603, a control module 604 and an output module 605, wherein the switching module 601, the input module 602, the driving module 603, the control module 604 and the output module 605 are connected in sequence, and each module is a pcb with pins and/or contacts.

The adapter module 601 includes an adapter circuit board 6011, an adapter pogo pin 6012, and an adapter contact 6013. The adapting circuit board 6011 is substantially circular, and the adapting circuit board 6011 is provided with a mounting hole and a positioning groove for fixing the adapting module 601. The relay pogo pin 6012 and the relay contact 6013 communicate through the relay circuit board 6011. The adapting pogo pin 6012 is a metal pogo pin, and is disposed on one side of the adapting circuit board 6011 for connecting with the power supply 2. The transfer contacts 6013 are arranged on the other side of the transfer circuit board 6011, the transfer contacts 6013 include two sets of arc contacts with different radii, and each set of the transfer contacts 6013 are two and are arranged oppositely at an interval of 180 degrees. The adapting contact 6013 is embedded in the adapting circuit board 6011, and the surface of the adapting contact 6013 is flush with the surface of the adapting circuit board 6011. In an alternative embodiment, the number of the transfer contacts 6013 is not limited to two sets of four, and the number of the transfer contacts 6013 may be increased or decreased according to the number of interfaces to be transferred, which is not limited herein.

Input module 602 includes input circuit board 6021, input pin 6022, input spring pin 6023, input circuit board 6021 is circular, input pin 6022 and input spring pin 6023 are respectively disposed on both sides of input circuit board 6021, and input pin 6022 and input spring pin 6023 communicate through input circuit board 6021. The input spring pins 6023 are concentrically arranged on the input circuit board 6021 in two groups, and are used for being correspondingly connected with the switching contact 6013. Input pins 6022 are arranged in a single row.

The driver module 603 includes a driver circuit board 6031, a first driver socket 6032, a second driver socket 6033, and a driver pin 6034. The first drive socket 6032 is for connection to an input pin of the input module 602. The driver circuit board 6031 includes a PWM module for converting the 24V dc power to a variable pulse current to control the operation of the 24V dc motor.

The control module 604 includes a control circuit board 6041 and a control socket 6042. The control circuit board 6041 is used to assist the driving module 603 in converting a constant dc current into a PWM current, and the control socket 6042 is used to connect with the driving pin 6034. After the control circuit board 6041 is communicated with the driving circuit board 6031, the control circuit board 6041 transmits a control signal to the driving circuit board 6031, so that the driving circuit board 6031 generates 24V variable pulse direct current with corresponding frequency to drive the direct current motor. The variable pulse direct current is used for controlling a stator of the direct current brushless motor to generate a variable magnetic field, and then a rotor of the permanent magnet is driven to rotate.

Output module 605 includes output circuit board 6051, output pins 6052 and output pogo pins 6053. Output pin 6052 and output spring pin 6053 are located the both sides of output circuit board 6051 respectively, and output pin 6052 and output spring pin 6053 pass through output circuit board 6051 and communicate, and output pin 6052 is used for being connected with second drive socket 6033, and output spring pin 6053 is used for being connected with motor 401.

The input module 602, the drive module 603, the control module 604 and the output module 605 constitute the main part of the motor drive 6. In assembly, input pin 6022 is coupled to first driver socket 6032, driver pin 6034 is coupled to control socket 6042, and second driver socket 6033 is coupled to output pin 6052. That is, the input module 602 and the output module 605 are respectively connected to two sides of the driving module 603, the control module 604 is connected to the driving module 603, and the control module 604 and the driving module 603 can communicate with each other. Specifically, the 24V dc current and the control information of the motor are sequentially transmitted through the switching module and the input module, the dc current acts on the driving module 603, the control information is transmitted to the control module 604 through the driving module, and the control module 604 transmits a corresponding control signal to the driving module 603 according to the control information, so that the driving module 603 converts the 24V dc current into a 24V variable pulse dc current. The 24V variable pulsed dc power is output through an output module 605.

In the present embodiment, as shown in fig. 9 to 11 in particular, the motor driver 6 is disposed in the adaptor 5. The input module 602 is fixed in the first accommodating space 5011 by screws, the output module 605 is fixed in the second accommodating space 5021 by screws, and the driving module 603 and the control module 604 are respectively fixed on both sides of the connecting segment 503 by screws. And, when each module is connected with the flange structure of switching device 5, all be provided with insulating pad between each module and the flange structure, avoid appearing the condition of short circuit. The motor driver 6 is packaged in the switching device 5, and the metal shell 504 of the switching device 5 protects the motor driver 6, so that the pollution of collision damage, dust and blood foam sputtering to the motor driver 6 is avoided, shielding is formed to a certain extent, and the electromagnetic interference caused by the outside to the motor driver 6 is reduced.

With continued reference to fig. 1 through 11. In the arm system, a power supply 2 is provided inside a carriage body 1. The power supply 2 of the robot arm 3 extends to the end 302 of the robot arm 3 via a cable built in the robot arm 3, and a power supply interface is formed at the end 302 of the robot arm 3. A patching module 601 is also provided at the tip 302, the patching module 601 being connected with the tip 302 of the robot arm 3 through mounting holes and positioning slots. The power interface is connected to the adapting pogo pin 6012 of the adapting module 601. In this way, the patching contacts 6013 of the patching module 601 form an interface that can output a constant direct current. Moreover, the cable built in the mechanical arm does not cause the winding and interference of the cable when the mechanical arm moves in the operation space and moves by using the electric tool.

The mechanical arm is a high-precision electromechanical product, is difficult to research and develop and has higher cost, and medical instrument companies generally do not research and develop the mechanical arm by themselves but integrate the mechanical arm into a surgical robot system by purchasing ready-made mechanical arms. The KUKA LBR Med mechanical arm manufactured by German Cuka company is a product which is more widely applied. An electrical interface for supplying power to a load is reserved at the tail end shaft of the mechanical arm, and a constant current power supply circuit is correspondingly arranged in the mechanical arm. In the technical scheme, the motor driver is arranged at the tail end of the mechanical arm, and constant current is supplied between the power supply and the driver in the trolley, so that power can be supplied by using the reserved power supply circuit of the mechanical arm without arranging a cable outside the mechanical arm.

The power tool 4 is connected to the end of the robot arm by means of a coupling device 5. Specifically, a first flange 501 of the adapter 5 is connected with the end 302 of the robot arm 3 through a bolt, and a second flange 502 of the adapter 5 is connected with the electric tool 4 through a flange interface, and the two connections are detachable. When the first flange 501 is connected to the end 302 of the robot arm 3, the input spring pins 6023 of the input module 602 contact the adaptor contacts 6013 of the adaptor module 601 to form a passage. When the second flange 502 is connected to the flange interface 403 of the power tool 4, the output pogo pins 6053 of the output module 605 are connected to the electrical interface 402 of the power tool 4. In this way, through the arrangement of the switching device 5, the electric tool 4 is fixed at the tail end 302 of the mechanical arm 3 in a mechanical connection mode, and the connection of the motor driver 6 with the power supply 2 and the motor 401 is realized, so that a current path is formed in the sequence of the power supply 2, the motor driver 6 and the motor 401, and the motor 401 can be driven to rotate by the power input of the power supply 2 and the driving of the motor driver 6.

Through the arrangement, the motor driver 6 is arranged at the tail end 302 of the mechanical arm 3, the distance from the motor 401 is short, the path of a control current signal which is output by the motor driver 6 and used for controlling the rotation of the motor 401 is short, and the interference of an external electromagnetic field on the current control signal is reduced as much as possible. The control current signal path is located inside the power tool 4 and the adapter 5, and the metal housings of the power tool 4 and the adapter 5 provide shielding protection to the current path to some extent. In addition, when the clinical operation requirement is met, the motor driver 6 is arranged separately from the motor 401 and is not arranged inside the electric tool 4 to be integrated with the motor 401, so that the volume of the electric tool 4 is reduced, the electric tool 4 generally acts on the body of a patient directly, and the smaller volume of the electric tool 4 for driving the operation tool is more suitable, so that a doctor has a larger visual field and an operation space.

In addition, since an incision is formed at the affected part to expose the tissue of the affected part during the operation, a sterile environment needs to be secured in the operation space, and the electric tool 4 directly acting on the patient needs to be sterilized before the operation. Whereas the sterile environment (high temperature/plasma) creates higher requirements for the harsh environment for the electronics within the motor drive 6. Since the motor driver 6 is provided separately from the motor 401 and at the distal end 302 of the robot arm 3, it is possible to sterilize only the surgical tool by detaching it without sterilizing the motor driver 6. Of course, there are still other measures to ensure the sterile environment of the operating room without sterilizing the motor drive 6, such as partially covering the robot arm 3 and the adapter device containing the motor drive 6 by a sterile cover 9. Set up in the inside scheme of electric tool 4 for

electric tool

4 and 3 lug connection of arm, motor driver 6 detachably, can enough satisfy the disinfection demand like this, reduced again and pull down the driver when disinfecting electric tool at every turn, the loaded down with trivial details step of reassembling when using, still can not increase electric tool 4's volume.

In an alternative embodiment, as shown in fig. 12, the adapter 5 may be omitted, the power tool 4 is directly connected to the end 302 of the robot arm 3 through the flange interface 403, and the motor driver 6a is enclosed by a housing and is also disposed at the end 302 of the robot arm 3. As in the previous embodiment, the power supply 2 extends to the end 302 of the robotic arm 3 via a cable, a power interface is formed at the end 302 of the machine 3, the adaptor module 601 of the motor drive 6a is connected to the power interface, and the output module 605 of the motor drive 6a is connected to the motor.

It can be understood that, by such an arrangement, the distance from the motor driver 6a to the motor is also shorter, and the path of the control current signal output by the motor driver 6a to control the rotation of the motor 401 is shorter, so that the interference of the external electromagnetic field to the current control signal is also reduced. The motor driver 6a is provided separately from the motor 401 and is not integrated with the power tool 4, reducing the volume of the power tool. In addition, in order to meet the requirement of high-temperature sterilization of the electric tool, the motor driver 6a does not need to be disassembled and assembled, and only the motor driver 6a needs to be sleeved in the sterile sleeve membrane 9.

In an alternative embodiment, as shown in fig. 13, in the case of providing the interface 5, the motor drive 6b may not be provided inside the interface 5, but may be provided separately at the tip 302 of the robot arm 3. In this way, the motor driver 6b is disposed at the end 302 of the robot arm 3, and is not integrated with the motor 401, but the current path between the two is short, and the control current signal transmitted between the two is not easily subjected to/generates much electromagnetic interference, thereby ensuring the accuracy of motion control of the motor 401. Meanwhile, advantages in meeting clinical requirements have been described in detail above and will not be described herein.

In an alternative embodiment, the arrangement of the contacts and pogo pins in the adaptor module 601 and the input module 602 may be interchanged, i.e. pogo pins are provided on the adaptor module 601 and contacts are provided on the input module 602, so that the adaptor module 601 and the input module 602 are connected through pogo pins and contacts.

In an alternative embodiment, the output pogo pins 6053 of the output module 605 may be replaced with contacts, and the electrical interface on the power tool may be provided in pogo pins. In another alternative embodiment, the adapting pogo pin 6012 on the adapting module 601 may be replaced with a contact type, and the power interface at the end 302 of the robot arm 3 may be configured as a pogo pin type.

In an alternative embodiment, the connection of the motor driver 6 to the power interface and the electrical interface 402 on the power tool 4 is not limited to contacts, pogo pins, but may also be in the form of plug sockets, pin sockets, etc.

In an alternative embodiment, in the connection mode among the input module 602, the control module 604, the driver module 603, and the output module 605, the arrangement of the pins and the slots may be interchanged, that is, the original slot is changed into the pin type, and the original pin is changed into the slot type. In another alternative embodiment, the input module 602, the control module 604, the driving module 603 and the output module 605 may be connected by spring contacts, wires, cables, welding, etc.

In an alternative embodiment, the input module 602, the control module 604, the driving module 603 and the output module 605 of the motor driver 6 may be connected in sequence.

In an alternative embodiment, the input module 602, the driving module 603, the control module 604 and the output module 605 of the motor driver 6 may be connected in sequence.

In an alternative embodiment, in the motor driver 6, the control module 604 and the driving module 603 are connected to the output module 605, and the input module 602 is connected to the control module 604.

In an alternative embodiment, in the motor driver 6, the control module 604 and the driving module 603 are connected to the output module 605, and the input module 602 is connected to the driving module 603.

In an alternative embodiment, in the motor driver 6, the control module 604 and the driving module 603 are connected to the input module 602, and the output module 605 is connected to the control module 604.

In an alternative embodiment, in the motor driver 6, the control module 604 and the driving module 603 are connected to the input module 602, and the output module 605 is connected to the driving module 603.

In an alternative embodiment, the connection of the input module 602, the control module 604, the driving module 603 and the output module 605 to the flange structure in the adapter in the motor driver 6 may replace the screw connection with a rivet, a strap, a tie, an adhesive, or an integrally encapsulated connection.

In an alternative embodiment, in the adapter 5, the metal housing and the flange structure are connected by press fit.

In an alternative embodiment, in the adapter 5, the metal shell 504 is connected to the flange structure by rivet or press-in pins.

As shown in fig. 14, in an alternative embodiment, a "T" shaped positioning pin 8 is further disposed in the adapter 5, the "T" shaped positioning pin 8 connects the first flange 501 and the second flange 502, one end of the "T" shaped positioning pin 8 abuts against the first flange 501, and the other end is screwed with the second flange 502 and does not protrude from the second flange 502. Through the arrangement, the T-shaped positioning pin 8 strengthens the strength and rigidity of the flange structure. And the number of the "T" shaped positioning pins 8 may be one or more, it is understood that the more the "T" shaped positioning pins 8 are, the higher the strength and rigidity of the flange structure is.

As shown in fig. 15, based on the aforementioned arrangement of the T-shaped positioning pin 8, in an alternative embodiment, one end of the T-shaped positioning pin 8a abuts against the first flange 501, the other end is screwed with the second flange 502, and the end extends out of the second flange 502. Through the arrangement, the T-shaped positioning pin 8a not only enhances the strength and rigidity of the flange structure, but also extends out of the T-shaped positioning pin of the second flange 502, and can realize positioning and guiding of a workpiece to be connected with the second flange 502, so that the second flange 502 and the corresponding workpiece can be aligned in a correct position and can be subsequently installed.

The present disclosure also provides a surgical system comprising a robotic arm system, a power tool 4, a navigation system 9000, and a control system 9200; the robot arm system is the robot arm system 100 described in the first aspect; the electric tool is connected with the tail end of the mechanical arm 3; the navigation system is used for measuring the position of the power tool 4; the control system 9200 is used to drive the robotic arm to move the power tool to the target position according to the surgical plan.

The robot arm 3 can either fully actively control the orientation of the power tool 4 or cooperatively limit the partial freedom of movement or range of movement of the power tool 4. Specifically, the robotic arm 3 may be controlled via control system programming to move the robotic arm 3 entirely autonomously according to the surgical plan, or by providing tactile or force feedback to limit the surgeon from manually moving the power tool 4 beyond a predetermined virtual boundary, or to provide virtual guidance to guide the surgeon in moving along a certain degree of freedom. The virtual boundaries and virtual guides may be from a surgical plan or may be set intraoperatively via an input device. The electric tool 4 is detachably connected with the mechanical arm 3.

The navigation system 9000 is used to measure the positions of the power tool 4 and the patient. Navigation system 9000 generally comprises a locator and a tracer. The tracer is mounted on the effector, surgical tool, and patient body. The tracer is typically an array of multiple tracer elements, each of which can emit an optical or electromagnetic signal in an active or passive manner. A locator (e.g., a binocular camera) measures the orientation of the tracer by 3D measurement techniques.

The control system 9200 compares the current position of the electric tool 4 with the target position according to the position information obtained by the navigation system, and drives the mechanical arm to move the prosthesis installation actuator to the target position according to the operation plan. The surgical plan may include a robotic arm movement path, a movement boundary, and the like. The surgical plan is carried on a three-dimensional reconstructed digital model of the patient's affected bone, which is intraoperatively registered with the patient's tissue.

With the aid of the navigation system, the control system knows the position information of the power tool 4 relative to the patient and controls the robotic arm 3 to move the power tool 4 to the target position according to the surgical plan. When the surgical system is used for operation, the interference of an external electromagnetic field to a current control signal is reduced. And the metal housings of the power tool 4 and the adapter 5 provide some shielding protection for the current path. In addition, when the clinical operation requirement is met, the motor driver 6 is arranged separately from the motor 401 and is not arranged inside the electric tool 4 and integrated with the motor 401, so that the volume of the electric tool 4 is reduced, the electric tool 4 generally acts on the body of a patient directly, and the smaller volume of the electric tool 4 for driving the operation tool is more suitable, so that a doctor has a larger visual field and an operation space. And the surgical tool can be sterilized only by being detached without sterilizing the motor driver 6. The beneficial effects obtained above are specifically explained in the first aspect of the embodiments of the present disclosure, and are not described herein again.

Although the present disclosure has been described in detail hereinabove with respect to general illustrations and specific embodiments, it will be apparent to those skilled in the art that certain modifications or improvements may be made thereto based on the disclosure. Accordingly, such modifications and improvements do not depart from the spirit of the disclosure and are intended to be within the scope of the disclosure.

Claims

1. A robotic arm system, comprising:

a robotic arm having a base end and a tip end, the tip end for connection to a power tool for surgical use;

the power supply is arranged on one side of the base end of the mechanical arm and is used for outputting constant current; and

the motor driver is arranged at the tail end of the mechanical arm and used for driving a motor of the electric tool; the motor driver is used for converting the constant current into a variable current required by the electric tool.

2. The robotic arm system of claim 1, wherein a current path between the power source and the motor drive is located within the robotic arm.

3. The robotic arm system of claim 1, wherein a current path between the motor and the motor driver is located within the power tool.

4. The robotic arm system of claim 1, further comprising an adapter, wherein the power tool is disposed at a distal end of the robotic arm via the adapter, and wherein the motor drive is disposed within the adapter.

5. The robotic arm system as claimed in claim 4, wherein the adapter has a metal housing.

6. The robotic arm system as claimed in claim 4, wherein the interface is configured such that when the interface is coupled to the robotic arm, a path is formed between the motor drive and the power source; when the switching device is connected with the electric tool, a passage is formed between the motor driver and the motor.

7. The robotic arm system of claim 6, wherein the adapter device is removably coupled to the robotic arm.

8. The robotic arm system of claim 6, wherein the adapter device is removably coupled to the power tool.

9. The robotic arm system of claim 6, wherein the adapter device comprises a flange assembly including a first flange and a second flange, the first flange for coupling with the robotic arm and the second flange for coupling with the power tool.

10. The robotic arm system of claim 9, wherein the motor drive is disposed between the first flange and the second flange.

11. The robotic arm system of claim 1, wherein the motor drive includes a first electrical interface for connection to the power source and a second electrical interface for connection to the motor.

12. The robotic arm system of claim 11, wherein the first electrical interface and the power supply connection, the second electrical interface and the motor connection are each implemented by a spring contact arrangement.

13. The robotic arm system of claim 1, wherein the motor drive comprises a switch module for connection to the power source, an input module, a drive module, a control module, and an output module for connection to the motor.

14. The robotic arm system of claim 13, wherein the adaptor module, the input module, the driver module, the control module and the output module are connected by plugging.

15. A surgical system, comprising:

a robotic arm system as claimed in any one of claims 1 to 14;

the electric tool is connected with the tail end of the mechanical arm;

a navigation system for measuring a position of the power tool; and

and the control system is used for driving the mechanical arm to move the electric tool to the target position according to the operation plan.