TWI769756B - Surgical device - Google Patents

Abstract

A surgical device for retaining a tool, the surgical device comprises a multi-axis manipulator configured to generate relative movement between a moving end and a stationary end thereof; a housing fixed to the stationary end of the manipulator; a motor configured to rotate the tool by a rotating interface when the tool is retained to the rotating interface; an adaptor connected to the manipulator and in orientational fixation to the moving end of the manipulator, the adaptor being configured to move with the moving end, and the adaptor comprises a tool stopper disposed therein, wherein the tool stopper is configured to catch the tool if the tool is dropped from the rotating interface; a tool head latchless interface exposed to a channel of the adaptor and configured to provide attraction force within the channel for retaining the tool to the rotating interface.

Description

surgical device

The present disclosure relates to a surgical device, and more particularly, to a surgical device that can assemble surgical tools through a zero-latch interface.

In the surgical environment, contamination is a concern for every physician and medical staff. In general, most surgeries require multiple surgical operations, such as incision, excision, and suturing. Also, each surgical procedure usually requires specific surgical tools, such as a scalpel to make an incision. Therefore, doctors need to touch different surgical tools with their hands during the operation. Although many surgical tools are single-use (disposable), exposure to multiple surgical tools increases the chance of contamination, such as from patient blood, tissue, pus, or other sources of contamination. Because the doctor is touching the surgical tools, contamination can be transferred to the surgical gloves on the doctor's hands.

Today, it is common to perform some surgeries using semi-automatic surgical devices to achieve high precision and stable surgical procedures. However, the same problem of contamination transfer still exists because a doctor or medical staff is still required to install and remove multiple surgical tools to and from the surgical device, respectively. Although proper sterilization can be performed between changes of surgical tools, the risk of contamination transfer cannot be eliminated.

The present disclosure provides a surgical device that can operate without the hands of a doctor or medical personnel The surgical tool can be installed and removed under the condition of touching the surgical tool, and the possibility of dropping the surgical tool due to malfunction can also be avoided in the case of automatic installation of the surgical tool.

In view of the above, the present disclosure provides a surgical device capable of installing/removing surgical tools.

A surgical device for holding a surgical tool includes a multi-axis motion platform with a stable end and a motion end, the multi-axis motion platform is configured to generate relative motion between the motion end and the stabilized end; a housing fixed provided to the stable end of the multi-axis motion platform; a motor having a rotational interface configured to rotate the surgical tool through the rotational interface when the surgical tool is held on the rotational interface ; an adapter is connected to the multi-axis motion platform and is directionally fixed with the moving end of the multi-axis motion platform, the adapter is configured to move with the motion end, and the adapter comprises: a motor end, a surgical tool end, a surgical tool stop, disposed between the motor end and the surgical tool end, and a channel extending between the motor end and the surgical tool end, wherein the The channel is configured to receive the rotary interface from the motor end and the surgical tool from the surgical tool end, wherein the surgical tool stop has a fixed end secured to the adapter and a free end extending to the channel and an elastic member disposed between the free end and the fixed end, wherein the elastic member is configured to reset the free end pushed toward the fixed end, wherein when the surgical tool When dropped from the rotating interface, the surgical tool stop is configured to catch the surgical tool in the channel through the free end; a surgical tool zero latch interface is exposed to the channel of the adapter and configured to provide an attractive force in the channel to retain the surgical tool to the rotational interface.

According to an embodiment of the present disclosure, wherein the surgical tool stop is at the surgical tool A distance from the surgical tool while retained on the rotating interface.

According to an embodiment of the present disclosure, wherein the free end of the surgical tool stop includes a ball that contacts the surgical tool when the surgical tool is held on the rotating interface, wherein the The balls are configured to rotate freely to reduce friction between the surgical tool stop and the surgical tool.

According to an embodiment of the present disclosure, the surgical device further includes a leakage feedback circuit coupled to the motor and configured to detect leakage, wherein the surgical tool zero-latch interface is further configured to The leakage feedback circuit stops providing attraction after detecting leakage.

According to an embodiment of the present disclosure, when the leakage current feedback circuit detects the leakage current, wherein the surgical tool stopper is further configured to hold the surgical tool and the surgical tool when the surgical tool is fixed in the adapter. Insulation between the rotating interfaces of the motor.

According to an embodiment of the present disclosure, wherein the surgical tool zero-latch interface is further configured to provide an attractive force for the surgical tool to clear the surgical tool stop, whereby the surgical tool is released from all of the adapter's The outside of the channel is moved into the inside, and the surgical tool is held on the rotating interface.

According to an embodiment of the present disclosure, wherein the surgical tool zero-latch interface is further configured to provide a repulsive force to the surgical tool past the surgical tool stop, whereby the surgical tool is removed from the rotational interface Detach and the surgical tool is moved from inside to outside of the channel of the adapter.

According to an embodiment of the present disclosure, wherein the adapter further includes a bearing exposed in the channel and disposed between the motor end of the adapter and the surgical tool stop, the bearing configured to stabilize the Rotation of surgical tools.

According to an embodiment of the present disclosure, wherein the surgical tool only interacts with the surgical tool zero-latch interface, the rotary interface, and the Bearing physical contact.

According to an embodiment of the present disclosure, wherein the surgical tool zero-latch interface includes a gas channel extending within the rotating interface and in fluid communication with the channel of the adapter, wherein the gas channel is configured to allow gas flow Therethrough, and the surgical tool zero-latch interface is further configured to provide a repulsive force, wherein the surgical tool zero-latch interface provides attractive and repulsive forces through a pressure differential created by the gas channel.

According to an embodiment of the present disclosure, it further includes an air pump disposed in the housing and connected to the zero-latch interface of the surgical tool, the air pump passing through the zero-latch interface of the surgical tool and the adapter of the adapter. Channels are in fluid communication, wherein the air pump is configured to draw gas out of the channel of the adapter via the surgical tool zero-latch interface to create an attraction force, and the air pump is further configured to zero-latch via the surgical tool The interface injects gas into the channel of the adapter to create a repulsive force.

According to an embodiment of the present disclosure, wherein the surgical tool zero-latch interface includes an electromagnet configured to electromagnetically generate attractive and repulsive forces, wherein the attractive force is generated by making the electromagnet have a different polarity than the surgical tool. is created, and the repulsive force is created by making the electromagnet the same polarity as the surgical tool.

According to an embodiment of the present disclosure, the adapter further includes a connecting portion disposed outside the tool end of the adapter, and the surgical tool includes a marker support, wherein the connecting portion is configured to connect the surgical the marker support of a tool to secure the marker support to the adapter when the surgical tool is rotated with the rotating interface.

According to an embodiment of the present disclosure, it further includes that the surgical tool has a first end and a second end, the surgical tool includes: a surgical tool body extending from the first end and the second end; the marker support A marker is arranged between the first end and the second end and is closer to the first end; a marker bearing is arranged between the surgical tool body and the marker support, and the marker bearing is arranged In order to facilitate free rotation of the marker support around the surgical tool body; wherein the axis of rotation of the marker support defines a surgical tool axis.

According to an embodiment of the present disclosure, the surgical tool further comprises a first directional feature fixed to the marker support and a second directional feature fixed to the surgical tool body; wherein the first direction A directional feature is disposed between the marker support and the second directional feature; wherein the first directional feature and the second directional feature have the same when viewed along the surgical tool axis cross-sectional shape.

According to an embodiment of the present disclosure, wherein the motor is configured to rotate the surgical tool so that the cross-sectional shape of the second directional feature coincides with the cross-sectional shape of the first directional feature, thereby rotating the first direction The directional feature and the second directional feature are placed in a directional surgical tool slot.

According to an embodiment of the present disclosure, when viewed along the surgical tool axis, the first directional feature and the second directional feature respectively comprise irregular polygonal contours.

According to an embodiment of the present disclosure, the first directional feature and the second directional feature have a non-polygonal shape that lacks rotational symmetry when viewed along the surgical tool axis.

According to an embodiment of the present disclosure, it further includes that the surgical tool has a first end and a second end, and the surgical tool includes a fiducial marker; wherein a surgical tool axis of the surgical tool is defined at the first end extending between the end and the second end; wherein the fiducial marker and the operator The tool is axially symmetric and coaxially connected to the surgical tool.

According to an embodiment of the present disclosure, it further includes that the surgical tool has a first end and a second end, and the surgical tool includes a permanent magnet and a bearing connected between the surgical tool and the permanent magnet; wherein the permanent magnet is located between the first end and the second end of the surgical tool and closer to the first end; wherein the permanent magnet is configured to provide a zero latch interface to the surgical tool attractiveness.

According to an embodiment of the present disclosure, further comprising a set of first fiducial markers and the surgical tool, and the surgical tool comprising a second fiducial marker, wherein the set of first fiducial markers and the second fiducial marker are configured To form a spatial pattern recognizable by an optical sensor, wherein the spatial pattern includes a plurality of coordinates, and a match between the plurality of coordinates of the spatial pattern and a geometric relationship represents that the surgical tool is properly held on the rotating interface.

Compared with the prior art, the above-mentioned surgical device installs or removes the surgical tool through a zero-latch interface, thereby avoiding the risk of contamination caused by medical personnel directly touching the surgical tool.

1: surgical staff

2: Subject

3: surgical computer

4: Tracker

5: Robotic arm

100: Surgical Devices

101: Multi-axis motion platform

102: Shell

103: Motor

104: Adapter

105, 105a, 105b, 105c: Device marking

106: Zero Latch Interface for Surgical Tools

200, 200a: Surgical Tools

201: Surgical Tool Markers

202: Permanent Magnet

203: Magnet Bearing

204: Surgical Tool Body

205: Mark the supports

206: Mark the bearing

207: Second connector

208: First Directional Feature

209: Second directional feature

300: Surgical Tool Box

301: Tool Box Marker

302, 302a, 302b, 302c: Surgical tool slots

303: The third connection

1011: Stable end

1012: Joints

1013: Sports side

1014: Linear Motor

1031: Motor body

1032: Rotation interface

1041: Channel

1042: Surgical Tool Stopper

1043: Bearing

1044: The first connection part

1061: Gas channel

1062: Electromagnet

1063: Cable

10421: Elastic

10422: Ball

AA: Acceptable range

AAC: Acceptable range center

A _motor : motor end

A _tool : tool end

CD: Center Deviation

GR: geometric relationship

SP: Space Pattern

T _adaptor : adapter side

T _axis : surgical tool axis

TMC: Surgical Tool Marking Center

TS _fixed : fixed end

TS _free : free end

T _surgical : surgical end

FIG. 1 is a schematic isometric view of a surgical environment according to an embodiment of the present disclosure.

2 is a schematic isometric view of a surgical device according to an embodiment of the present disclosure.

3 is a schematic isometric view of a surgical device according to an embodiment of the present disclosure.

4 is a schematic isometric view of a surgical device according to an embodiment of the present disclosure.

FIG. 5 is a schematic isometric view of a surgical device according to an embodiment of the present disclosure.

6 is a schematic isometric view of a surgical device according to an embodiment of the present disclosure.

7 is a schematic cross-sectional view of an adapter according to an embodiment of the present disclosure.

8 is a schematic cross-sectional view of an adapter according to an embodiment of the present disclosure.

9 is a schematic cross-sectional view of an adapter according to an embodiment of the present disclosure.

10 is a schematic cross-sectional view of an adapter according to an embodiment of the present disclosure.

11 is a schematic cross-sectional view of an adapter according to an embodiment of the present disclosure.

12 is a schematic cross-sectional view of an adapter according to an embodiment of the present disclosure.

13 is a schematic cross-sectional view of an adapter according to an embodiment of the present disclosure.

14 is a schematic top view of a tool box according to an embodiment of the present disclosure.

15 is a schematic isometric view of a tool box and a surgical tool according to an embodiment of the present disclosure.

16 is a method of a surgical device in accordance with an embodiment of the present disclosure.

17 is a method of a surgical device in accordance with an embodiment of the present disclosure.

18 is a method of a surgical device according to an embodiment of the present disclosure.

FIG. 19 is a schematic isometric view of a spatial pattern SP of a surgical device according to an embodiment of the present disclosure.

FIG. 20 is a simplified schematic diagram of the space pattern SP in FIG. 19 .

FIG. 21 is a schematic diagram of exaggerating the deviation between the geometric relationship GR and the spatial pattern SP in an embodiment of the present disclosure.

FIG. 22 is a schematic diagram illustrating that the spatial pattern SP almost matches the geometric relationship GR in an embodiment of the present disclosure.

FIG. 23 is a schematic diagram of a mark within an acceptable range AA in an embodiment of the present disclosure.

It will be understood that, for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. Furthermore, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, one of ordinary skill in the art will understand that the embodiments described herein may be practiced without these specific details. In other instances, methods, procedures and elements have not been described in detail so as not to obscure the relevant features being described. Also, this description should not be considered as limiting the scope of the embodiments described herein. The drawings are not necessarily to scale and the proportions of certain portions may be exaggerated to better illustrate details and features of the present disclosure.

It should be noted that the term "connected" may be interpreted as direct or indirect physical contact; the term "coupled" may be interpreted as direct or indirect electrical communication.

FIG. 1 is a schematic isometric view of a surgical environment according to an embodiment of the present disclosure. In the surgical environment, an operator 1 may hold a surgical device 100 connected to a robotic arm 5 to perform surgery on a subject 2 . A surgical computer 3 is connected to the robotic arm 5 and a tracker 4 . In this way, the surgical computer 3 is configured to receive position information from the tracker 4 and then use the robotic arm 5 to guide the movement of the surgical device 100 according to the position information. Further, the tracker 4 includes an optical sensor configured to receive light signals from fiducial markers (not shown) and fixed to the surgical device 100; the tracker 4 is configured In order to generate position information based on the optical signal, the surgical computer 3 can determine the position of the surgical device 100 . One end of the surgical device 100 is connected to a surgical tool 200 for performing surgical operations. When a variety of different surgical tools are required during surgery, the surgical tool 200 on the surgical device 100 can be replaced with another surgical tool 200a in a surgical tool box 300 . In addition, in most cases, one operation involves multiple surgical operations, which can only be performed by different surgical tools, so frequent replacement of surgical tools during the operation is essential. The replacement of surgical tools is usually performed by a surgical staff or medical assistant. Of course, anyone who replaces surgical tools can wear sterile gloves, but this cannot avoid contamination in blood or tissue via the gloves in the absence of between the same surgical tools. In the present disclosure, the surgical device 100 is configured to replace different surgical tools without direct contact with the surgical tools, so the chance of contamination may be reduced.

2 is a schematic isometric view of a surgical device according to an embodiment of the present disclosure. As shown in FIG. 2 , a surgical device 100 includes a multi-axis motion platform 101 , a housing 102 , a motor 103 and an adapter 104 . The multi-axis motion platform 101 includes a stable end 1011 , a moving end 1013 and a plurality of joints 1012 connecting the moving end 1013 to the stable end 1011 . The multi-axis motion platform 101 is configured to generate relative motion between the moving end 1013 and the stable end 1011 by driving the plurality of joints 1012 . The housing 102 is fixed to the stable end 1011 of the multi-axis motion platform 101 , so the moving end 1013 can move relative to the housing 102 . The motor 103 is fixed between the moving end 1013 and the adapter 104 , so the motor 103 and the adapter 104 are configured to move together with the moving end 1013 . The adaptor 104 is configured to receive a rotary interface (not shown) of the motor 103 and a surgical tool 200, and the surgical tool 200 is held in the adaptor 104 by the rotary interface, so the motor 103 is configured to drive the rotation of the surgical tool 200 by the rotary interface. In an embodiment of the present disclosure, the adapter 104 is directionally fixed to the moving end 1013 . Further, when the multi-axis motion platform 101 moves, the adapter 104 is directional to the moving end 1013 . The orientation of the moving end 1013 remains unchanged. For example, when the moving end 1013 moves, the adapter 104 will move accordingly, such as up/down, forward/backward, left/right, roll, yaw or tilt. For another example, the adapter 104 has a first axis, and the moving end 1013 has a second axis in a specific relationship (eg, parallel, intersecting, perpendicular, coincident, etc.) with the first axis, and the adapter 104 has a second axis. and the specific relationship between the moving end 1013 is unchanged. The motor 103 is configured to generate torque by rotating the rotating interface, and the rotating interface is configured to rotate continuously to support surgical operations such as drilling, or to rotate through a specified angle to support such as implant placement or neurodegeneration surgery. For example, the motor 103 may be a stepping motor or a servo motor, so as to rotate the rotating interface by a specified angle. For surgical operations that require the surgical tool 200 to move in a form other than rotation, the multi-axis motion platform 101 is configured to The knuckle 1012 drives the moving end 1013 for this purpose; for example, the plurality of joints 1012 are configured to move the moving end 1013 (in FIG. 2 ) up and down to support surgical operations such as piling. In one embodiment, the multi-axis motion platform 101 is a parallel manipulator, which has many advantages over tandem manipulators, such as: lower inertial forces, higher stiffness, well-defined and unique direct force conversion , precise positioning, etc.

In an embodiment of the present disclosure, as shown in FIG. 3 , the multi-axis motion platform 101 of the surgical device 100 further includes a plurality of linear motors 1014 connected to the plurality of joints 1012 , the plurality of linear motors 1014 is configured to drive the corresponding plurality of joints 1012 . More specifically, the joint 1012 connected to the mover of the linear motor 1014 can expand or contract as the mover moves, and the moving ends 1013 fixed to the plurality of joints 1012 also follow the joints 1012 movement and movement. With respect to the aforementioned piling operation, the plurality of linear motors 1014 are configured to drive all the joints 1012 together to iteratively expand and contract together, so that the surgical tool 200 is relatively insensitive to the subject of the piling operation. It is configured to move back and forth with the moving end 1013 . In FIG. 3, the plurality of linear motors 1014 may be housed within the housing 102 (shown in outline only for clarity of description). In another embodiment of the present disclosure, as shown in FIG. 4 , the plurality of linear motors 1014 are disposed between the stable end 1011 and the moving end 1013 of the multi-axis motion platform 101 . With this arrangement, the space in the housing 102 originally occupied by the plurality of linear motors 1014 can be saved to accommodate other components. Additionally, exposing the plurality of linear motors 1014 is beneficial for maintenance or repair. Even though the multi-axis motion platform 101 is driven by the plurality of linear motors 1014 in FIGS. 3 and 4 , on the premise that linear motion can be provided to expand and contract the joints 1012 of the multi-axis motion platform 101 Next, the linear motor 1014 can be replaced with a servo motor, stepper motor, lead screw/ball screw and nut or any combination of the above.

FIG. 5 shows the arrangement of the motor 103 according to an embodiment of the present disclosure. As shown in FIG. 5 , the motor 103 is at least partially disposed between the stable end 1011 and the moving end 1013 of the multi-axis motion platform 101 , so that the surgical device 100 in FIG. The surgical device 100 shown in FIG. 2 is short. Like the other embodiments described above, the motor 103 in this embodiment is configured to output torque to the surgical tool 200 to rotate the surgical tool 200 . In addition, incorporating the motor 103 into the motion end 1013 partially or completely can increase the stability of the multi-axis motion platform 101 when the motor 103 outputs torque, thus improving the precision of surgery. The same concept is also applied to another embodiment of the present disclosure. As shown in FIG. 6 , the motor 103 is integrated into the housing 102 . It should be noted that the housing 102 in FIGS. 5 and 6 is only presented in outline for clarity of description. The motor 103 includes a motor body 1031 and a rotary interface 1032, wherein the motor body 1031 is disposed between the plurality of linear motors 1014 in the housing 102, so the adapter 104 and the motor The main bodies 1031 are respectively disposed on different sides of the multi-axis motion platform 101 . In this embodiment, the rotating interface 1032 has two ends extending, one end is fixed to the rotor in the motor main body 1031, and the other end is disposed in the adapter 104 to connect and rotate the Surgical Tools 200 . In other words, the rotating interface 1032 is configured to transmit the torque provided by the motor body 1031 to the surgical tool 200 . During the surgical operation, the disposition of the motor body 1031 in the housing 102 greatly reduces the number of rotors rotating in the motor 103 at the _surgical end T of the surgical tool 200 close to the patient. vibration interference. In addition, the multi-axis motion platform 101 no longer needs to carry the weight of the motor 103, so the service life is longer. In addition, due to the reduction of inertia, reducing the load on the moving end 1013 of the multi-axis motion platform 101 is beneficial to better control the multi-axis motion platform 101, thereby reducing the movement of the moving end 1013 from moving to resting. stabilization time. Therefore, the surgical end T _surgical of the surgical tool 200 for performing the surgical operation can also be stabilized more quickly.

Referring again to FIG. 2 , the surgical device 100 further includes at least one device marker 105 mounted thereon, and the surgical tool 200 includes a surgical tool marker 201 mounted thereon. In the present disclosure, a surgical tool axis T _axis is defined as between two ends of the surgical tool 200 , wherein one end (hereinafter referred to as the adaptor end T _adaptor ) is disposed within the adaptor 104 , and the other end (hereinafter referred to as the adaptor end T adaptor ) Called the surgical end T _surgical ) is used to perform surgical operations. In one embodiment, the surgical tool mark 201 is coaxial with the surgical tool axis T _axis of the surgical tool 200 , so the position information of the surgical tool mark 201 is not affected by the motor 103 rotating the surgical tool 200 impact. Both the device marker 105 and the surgical tool marker 201 are fiducial markers trackable by the tracker 4 in FIG. 1 . In other words, the device marker 105 and the surgical tool marker 201 are configured to reflect or emit light signals to the tracker 4 where the surgical device 100 and the surgery can be generated The location information of the tool 200 . Although the device indicia 105 are not shown in Figures 3, 5 and 6, they are omitted for clearer visual presentation only. Since the multi-axis motion platform 101 can move the surgical tool 200 and the robotic arm 5 can further move the surgical device 100 including the multi-axis motion platform 101 , the tracker 4 is used to track the device Indicia 105 and the surgical tool indicia 201 enable the surgical computer 3 to determine the position of the surgical device 100 , the position of the surgical tool 200 , and the relative position between the surgical device 100 and the surgical tool 200 . In this way, the basic necessary conditions for automatic surgical tool replacement (ie, determining the positions of the surgical device 100 and the surgical tool 200 ) are satisfied. For example, the surgical computer 3 is configured to guide the operation of the surgical device 100 according to the position information of the surgical device 100 and the surgical tool 200, so that the surgical device 100 is close to the surgical tool 200, so that the surgical tool 200 can be installed on the surgical device 100 without using hands. However, in order to realize automatic surgical tool replacement, it is not only necessary to determine the position information of the surgical device 100 and the surgical tool 200 , but also the ability to automatically mount the surgical tool 200 to the surgical device 100 . The details of automatic installation are further described in FIGS. 7-13 , which show cross-sectional views of the adapter 104 , the motor 103 in part, and the surgical tool 200 in part.

FIGS. 7-13 illustrate partial cross-sectional views of the surgical device 100 around the adapter 104, according to embodiments of the present disclosure. As shown in FIG. 7 , the adapter 104 includes a motor end A _motor , a surgical tool end A _tool , a channel 1041 extending between the motor end A _motor and the surgical tool end A _tool and a surgical tool stop The device 1042 is disposed between the motor end A _motor and the surgical tool end A _tool . The channel 1041 is configured to receive the rotary interface 1032 from the motor end A _motor and the surgical tool 200 from the surgical tool end A _tool , and the rotary interface 1032 is configured to be connected to the channel The surgical tool 200 in 1041. The surgical device 100 further includes a surgical tool zero-latch interface 106 exposed in the channel 1041, the surgical tool zero-latch interface 106 configured to provide an attractive force within the channel 1041 to retain the surgical The tool 200 is positioned at the rotation interface 1032 to mount the surgical tool 200 to the surgical device 100 . In one embodiment, the device indicia 105 and the surgical tool indicia 201 form a spatial pattern recognizable by the tracker 4, and the coordinates of the recognized spatial pattern (eg, Cartesian coordinates) are transmitted It is determined by the surgical computer 3 that when the coordinates of the spatial pattern match a specified geometric relationship stored in the surgical computer 3, it is determined that the surgical tool 200 is correctly held on the surgical tool 200. Rotate interface 1032. Attraction can be in the form of air pressure, magnetism, etc. It should be noted that, for a clear visual presentation, the specific structure of the surgical tool zero-latch interface 106 is not shown in FIGS. 7 to 10, which is to emphasize how the surgical tool zero-latch interface 106 can provide invisible forces. Capability, this invisible force facilitates installation of tool 200 without grasping by hand, and surgical tool zero-latch interface 106 will be described in further detail in FIGS. 11 and 12 .

In one embodiment of the present disclosure, the surgical tool zero-latch interface 106 is configured to pull (drag) the surgical tool 200 past the surgical tool stop 1042 by providing an attractive force. As shown in FIG. 8 , the surgical tool 200 is drawn from outside the channel 1041 of the adapter 104 into the inside. The surgical tool stopper 1042 includes a fixed end TS _fixed fixed to the adapter 104, a free end TS _free extending into the channel, and an elastic piece 10421 disposed at the free end TS _free and the fixed end TS between _fixed . When the surgical tool 200 passes through the surgical tool stopper 1042, the elastic member 10421 allows the free end TS _free , which is pushed toward the fixed end TS _fixed by the surgical tool 200, to be reset. The surgical tool stop 1042 further includes a ball 10422 at the free end TS _free , and the ball 10422 is configured to prevent the surgical tool 200 from being hit by the surgical tool 200 when the surgical tool 200 passes the free end TS _free . Surgical tool stop 1042 is worn. After the surgical tool 200 has passed the free end and is retained at the rotational interface 1032 , the surgical tool stop 1042 is kept at a distance from the surgical tool 200 and thus does not interfere with the rotation of the surgical tool 200 .

As shown in FIG. 9 , the surgical tool 200 is drawn further into the channel 1041 as the surgical tool zero-latch interface 106 continues to provide an attractive force. Thus, the surgical tool 200 is connected to the rotary interface 1032 of the motor 103 . In this way, the surgical tool stopper 1042 is no longer pushed in by the surgical tool 200 , so the free end TS _free is reset to the initial position of the free end TS _free by the elastic member 10421 . Also, the adaptor end T _adaptor of the surgical tool 200 can be held in the rotating interface 1032 in the channel 1041 of the adaptor 104 as long as the surgical tool zero latch interface 106 continues to provide attractive force. In an embodiment of the present disclosure, the rotating interface 1032 is configured to rotate the surgical tool 200 by the torque provided by the motor body 1031 of the motor 103 , so the adapter end T of the surgical tool 200 The _adaptor includes at least two surfaces (eg, flat surfaces) that are complementary to the rotation interface 1032 structure. The adapter 104 further includes a bearing 1043 exposed in the channel 1041 and disposed between the motor end A _motor and the surgical tool end A _tool . The bearing 1043 is configured to surround the surgical tool 200 held on the rotating interface 1032 so as to contact the surgical tool 200 in addition to the rotating interface 1032, so the surgical tool 200 and the surgical tool 200 are added. The contact area between the adapters 104 thus facilitates stable rotation of the surgical tool 200 within the channel 1041 of the adapter 104 . In one embodiment of the present disclosure, when the surgical tool 200 is held on the rotary interface 1032 by the surgical tool zero-latch interface 106 , except for the surgical tool zero-latch interface 106 and the rotary interface 1032 Besides, the surgical tool 200 only just contacts the bearing 1043 , thus reducing the frictional force applied by the bearing 1043 to the surgical tool 200 when the surgical tool 200 is rotated. In other words, the surgical tool 200 is only in physical contact with the surgical tool zero-latch interface 106 , the rotational interface 1032 and the bearing 1043 . In another embodiment, when the surgical tool 200 is held on the rotating interface 1032, the ball 10422 at the free end TS _free is designed to contact the surgical tool 200, which can further increase the The rotational stability of the surgical tool 200 is described.

In one embodiment, the surgical tool zero-latch interface 106 is further configured to provide a repulsive force. Similar to the attractive force, the repulsive force can be in the form of air pressure, magnetic force, etc., which can be provided to the surgical tool 200 without physical contact, so that the surgical tool 200 can be unwound without manual pull. When the surgical tool zero-latch interface 106 provides a repulsive force, the surgical tool 200 is pushed over the surgical tool stop 1042, thus disengaging the surgical tool 200 from the rotational interface 1032 and from the adapter 104 moves inside to outside of the channel 1041 , thereby removing the surgical tool 200 from the surgical device 100 . With regard to the installation process of the surgical tool 200 shown in FIGS. 7-9 , the removal of the surgical tool 200 is basically its reverse process.

In an embodiment of the present disclosure, the surgical device 100 further includes a leakage feedback circuit coupled to the rotary interface 1032 or a power terminal of the motor 103 . In the surgical environment shown in FIG. 1, the leakage current of the surgical device 100 may flow to the operator 1 and/or the recipient 2, which is not ideal. On the other hand, leakage current can also cause overheating or other malfunctions that hinder the operation of the surgical device 100 . The leakage feedback circuit is configured to detect leakage around the motor 103, and when the leakage feedback circuit detects leakage, the surgical tool zero latch interface 106 is further configured to stop providing attractive force. Gravity causes the surgical tool 200 to drop immediately after the attractive force disappears. Therefore, as shown in FIG. 10 , after the surgical tool 200 is dropped from the rotating interface 1032 , the surgical tool stopper 1042 is further configured to receive the free end TS _free through the channel 1041 . Surgical Tools 200 . As such, the surgical tool stop 1042 keeps the surgical tool 200 at a distance from the rotational interface 1032 by securing the surgical tool 200 within the adapter 104 . In other words, the surgical tool 200 is insulated from the motor 103 and electrical leakage.

In one embodiment of the present disclosure, as shown in FIG. 11 , the surgical tool zero-latch interface 106 includes a gas channel 1061 extending within the rotating interface 1032 and in fluid communication with the channel 1041 of the adapter 104 Connected. As such, the gas channel 1061 is configured to allow gas to flow therethrough so that gas can enter or exit the adapter 104 by flowing through the gas channel 1061 of the surgical tool zero-latch interface 106 to provide a differential pressure . First, when the gas exits the channel 1041 and flows into the gas channel 1061, a negative pressure will be generated in the channel 1041, thereby creating the attractive force provided by the zero-latch interface 106 of the surgical tool. Thus, a surgical tool 200 can be attracted into the adapter 104 to connect to the rotary interface 1032 . The surgical tool 200 is connected , the air pressure within the channel 1041 returns to approximately atmospheric pressure (ie may be slightly above or below atmospheric pressure) and suction is maintained by providing negative pressure in the air channel 1061 of the surgical tool zero latch interface 106 force, thereby holding the surgical tool 200 on the rotating interface 1032 . Conversely, when gas enters the channel 1041 from the gas channel 1061, a positive pressure is generated in the channel 1041, thereby generating the repulsive force provided by the zero-latch interface 106 of the surgical tool. Thus, a surgical tool 200 can be pulled down from the rotary interface 1032 and pushed out of the adapter 104 by repulsive force.

In an embodiment of the present disclosure, the surgical device 100 further includes an air pump (not shown) disposed within the housing 102 and connected to the surgical tool zero-latch interface 106, the air pump passing through the The surgical tool zero-latch interface 106 is in fluid communication with the channel 1041 of the adapter 104 . As such, the surgical tool zero-latch interface 106 may be a gas channel in fluid communication with the channel 1041 . In one embodiment, the gas channel is arranged through the motor 103 . In another embodiment, the gas channel is arranged outside the motor 103 . The gas pump is configured to provide a pressure differential to the channel 1041 of the adapter 104 through the gas channel to generate an attractive force, eg, to draw gas away from the channel 1041 . Conversely, the gas pump is further configured to provide a pressure differential by injecting gas from the gas channel into the channel 1041 of the adapter 104 , thereby generating a repulsive force in the channel 1041 . Alternatively, the gas channel may be connected to an external air pump in the surgical environment instead of the air pump integrated within the housing 102 . In this way, the circulation of gas is provided by a plurality of solenoid valves between the gas passage and the external air pump, and the solenoid valves can be arranged in the casing 102 . Therefore, the overall weight of the surgical device 100 can be reduced.

As shown in FIG. 12 , in one embodiment of the present disclosure, the surgical tool zero-latch interface 106 includes an electromagnet 1062 configured to generate attractive and repulsive forces through electromagnetism. The electromagnet 1062 is arranged between the motor 103 and the surgical tool end A _tool of the adapter 104 and is exposed in the channel 1041 . The surgical tool 200 includes a permanent magnet 202 connected to the other for electromagnetic attraction and repulsion. The permanent magnet 202 is arranged between the adaptor end T _adaptor of the surgical tool 200 and the surgical end T _surgical and is closer to the adaptor end T _adaptor . The electromagnet 1062 is configured to be driven by receiving power from the cable 1063, thereby generating attractive and repulsive forces. An attractive force is generated by driving the electromagnet 1062 to have a different polarity than the permanent magnet 202 of the surgical tool 200 . Conversely, the repulsive force is generated by driving the electromagnet 1062 to have the same polarity as the permanent magnet 202 of the surgical tool 200 . In one embodiment, the electromagnet 1062 is disposed within the channel 1041 but not in contact with the rotating interface 1032, so the rotation of the rotating interface 1032 will not be affected by the electromagnet 1062 not rotating together. offset by friction. In this case, the surgical tool 200 further includes a magnet bearing 203 disposed between the permanent magnet 202 and a surgical tool body 204 . Thus, the surgical tool body 204 is configured to freely rotate with the rotating interface 1032 when the permanent magnet 202 is held by the electromagnet 1062 by an attractive force. In another embodiment, the electromagnet 1062 is integrated into the rotating interface 1032 , so it can rotate together with the rotating interface 1032 . In this way, both the permanent magnet 202 and the surgical tool body 204 are configured to rotate together with the rotating interface 1032 and the electromagnet 1062 . In other words, the magnet bearing 203 does not need to be disposed between the permanent magnet 202 and the surgical tool body 204 .

As previously described, as shown in FIG. 2 , the surgical tool marker 201 may be disposed coaxially with the surgical tool 200 . As shown in FIG. 13 , in another embodiment, the surgical tool marker 201 is arranged on the marker support 205 of the surgical tool 200 . The surgical tool 200 includes a marker bearing 206 and the marker support 205 disposed between the marker bearing 206 and the surgical tool body 204, and both the marker bearing 206 and the marker support 205 have a The axis of rotation coincides with the T _axis of the surgical tool. Through the marker bearing 206, the marker support 205 and the surgical tool marker 201 thereon do not rotate together with the surgical tool body 204 driven by the rotating interface 1032, which is beneficial to the operation of the surgical tool 200. Rotational stability and tracking. More specifically, surgical tool markers 201 that do not rotate with the surgical tool body 204 do not exert unnecessary centrifugal force on the surgical tool 200 . Of course, it is easier to track the surgical tool 200 by the tracker 4 based on the surgical tool marker 201 that is not moving during a surgical operation. The marker support 205 may be disposed between the adaptor end T _adaptor and the surgical end T _surgical of the surgical tool, and closer to the adaptor end T _adaptor . In addition, the adapter 104 includes a first connecting portion 1044 disposed on the surgical tool end A _tool of the adapter 104 , and the surgical tool 200 further includes a second connecting portion 207 disposed on the marker support 205 above and between the surgical tool marker 201 and the marker bearing 206 . Therefore, the marker support 205 can be fixed to the adapter 104 by connecting the second connection part 207 to the first connection part 1044 . By doing so, the surgical tool marker 201 and the marker support 205 are further prevented from freely rotating around the surgical tool body 204 due to gravity. In other words, when the surgical tool 200 is not perpendicular to the ground during a surgical operation, the surgical tool marker 201 does not move due to gravity because the marker support 205 is fixed to the surgical device 100 . In one embodiment, one of the first connecting portion 1044 and the second connecting portion 207 may be a magnet, and the other may be ferromagnetic.

In one embodiment, as shown in FIG. 13, the surgical tool 200 further includes a first directional feature 208 disposed around the marker bearing 206 and fixed below the marker support 205, so that the first The directional element 208 also does not rotate with the surgical tool body 204 . The cross-sectional shape of the first directional element 208 is directional when viewed along the surgical tool axis T _axis . In other words, if the cross-sectional shape of the first directional element 208 is rotated 360 degrees, it only coincides with itself once, ie lacks rotational symmetry. As shown in FIG. 14 , a surgical tool box 300 includes a plurality of directional surgical tool slots 302 . The first directional element 208 is configured to be received in a directional surgical tool slot 302 of the surgical tool box 300 , wherein the directional surgical tool slot 302 has a shape corresponding to the first directional element 208 . correspond. In this way, the first directional element 208 fixed on the marker support 205 and the directional surgical tool slot 302 can be matched to limit the marker support 205 and the surgical tool box Relative directions between 300. In another embodiment, the surgical tool box 300 further includes a non-directional surgical tool slot 302a and a third connecting portion 303, when the surgical tool 200 is inserted into the non-directional surgical tool slot 302a, The third connection portion 303 is configured to fix the marker support 205 without the first directional element 208 . For example, when the marker support 205 is ferromagnetic, the third connecting portion 303 may be a magnet. Accordingly, the surgical tool cassette 300 can limit the relative orientation between the marker support 205 and the surgical tool body 204 . As such, during the process of picking up the surgical tool 200 from the surgical tool box 300 by the surgical device 100 or placing the surgical tool 200 back into the surgical tool box 300, the marker support 205 Either the third connecting portion 303 is fixed to the surgical tool box 300 , or the first connecting portion 1044 is fixed to the surgical device 100 .

In one embodiment, the surgical tool box 300 further includes a tool box marker 301 fixed thereon. Like the device marker 105 and the surgical tool marker 201, the tool box marker 301 is a fiducial marker that the tracker 4 can track so the position of the surgical tool box 300 in the surgical environment can be determined. In this way, through the guidance of the surgical computer 3 , the robotic arm 5 can move the surgical device 100 to the top of the surgical tool box 300 , thereby facilitating the installation or removal of the surgical tool 200 .

In one embodiment, as shown in FIG. 15 , the surgical tool 200 further includes a second directional element 209 fixed on the surgical tool body 204 under the first directional element 208 , and when extended. The second directional element 209 has the same cross-sectional shape as the first directional element 208 when viewed along the surgical tool axis T _axis , and thus lacks rotational symmetry. As mentioned above, the adaptor end T _adaptor of the surgical tool 200 includes at least two surfaces complementary to the structure of the rotating interface 1032 . In other words, the surgical tool 200 can be correctly installed on the surgical device 100 only when the adaptor end T _adaptor is structurally matched with the rotating interface 1032 . When the surgical tool 200 is placed in the surgical tool box 300 , both the first directional element 208 and the second directional element 209 should be placed in the directional surgical tool slot 302 . In addition, the motor 103 is configured to make the cross-sectional shape of the second directional element 209 coincide with the cross-sectional shape of the first directional element 208 by rotating the surgical tool body 204, wherein the cross-sectional shape is The cross-sectional shape observed along the surgical tool axis T _axis . As such, the directional surgical tool slot 302 can constrain the cross-sectional shape of the adaptor end T _adaptor to a specific direction when viewed along the surgical tool axis T _axis . Therefore, it is possible to automatically install the surgical tool 200 to the surgical device 100 by setting the default direction of the rotation interface 1032 , wherein when viewed along the surgical tool axis T _axis , all parts located in the default direction The cross-sectional shape of the rotating interface 1032 coincides with the cross-sectional shape of the adapter end T _adaptor .

It should be noted that since the first directional element 208 , the second directional element 209 and the directional surgical tool slot 302 should have the same cross-sectional shape, the shapes of their loading surfaces are all directional. The directional surgical tool slot 302b and the directional surgical tool slot 302c will be illustrated in FIG. 14 as an example. In an embodiment of the present disclosure, as shown in the directional surgical tool slot 302b, the directional shape may be the outline of an irregular polygon. In another embodiment of the present disclosure, as shown in the directional surgical tool slot 302c, the directional shape may be a non-polygonal shape that lacks rotational symmetry.

FIG. 16 illustrates a method of installing and unloading a surgical tool 200 through the surgical device 100, according to an embodiment of the present disclosure. The method includes:

In S101, the surgical device 100 receives a first confirmation signal. The first confirmation signal is sent by the surgical computer 3 to the surgical device 100 . In one embodiment, when the opening of the surgical tool end A _tool of the channel 1041 of the adaptor 104 of the surgical device 100 is close to the adaptor end T of the surgical tool 200 placed in the surgical tool box 300 _adaptor , and when the rotation axis of the motor 103 is aligned with the surgical tool axis T _axis , the first confirmation signal is sent. Meanwhile, the surgical computer 3 is configured to determine a first spatial pattern formed by at least one device marker 105 and one surgical tool marker 201, or at least one device marker 105 and at least one tool box marker 301 Form.

In S102, a first control signal is sent to the surgical tool zero-latch interface 106 in the surgical device 100 according to the first confirmation signal. In one embodiment, after the surgical device 100 receives the first confirmation signal, a controller of the surgical device 100 sends the first control signal to the surgical tool zero-latch interface 106 . In one embodiment, the controller is disposed in the housing 102, and the controller controls the movement of the multi-axis motion platform 101, the rotation of the motor 103 and the surgical tool by sending electrical signals The drive of the zero latch interface 106 . The controller is also configured to receive The feedback signal of the leakage current feedback circuit correspondingly stops driving the zero-latch interface 106 of the surgical tool.

In S103, the surgical tool zero-latch interface 106 provides an attractive force according to the first control signal. In one embodiment, by sending a control signal to drive the gas pump in the housing 102, the gas channel 1061 provides a pressure differential to the channel 1041, thereby providing an attractive force, for example, to draw gas from the channel. 1041 pulled away. In another embodiment, the attractive force is provided by sending a control signal to drive the electromagnet 1062 to have a different polarity than the permanent magnet 202 on the surgical tool 200 .

In S104 , the surgical tool 200 is drawn into the adapter 104 of the surgical device 100 by an attractive force from the surgical tool zero-latch interface 106 . In one embodiment, the surgical tool 200 is drawn into the adapter 104 by the negative pressure created in the channel 1041 . In another embodiment, the surgical tool 200 is pulled into the adapter 104 by electromagnetic force.

In S105 , the surgical tool 200 is held to the motor 103 in communication with the channel 1041 of the adapter 104 by the attractive force from the surgical tool zero-latch interface 106 . In one embodiment, the surgical tool zero-latch interface 106 continuously provides negative pressure to the channel 1041 so as to keep the adaptor end T _adaptor connected to the rotating interface 1032 . In another embodiment, the surgical tool zero-latch interface 106 continuously provides electromagnetic force to the channel 1041 to keep the adapter end T _adaptor in contact with the rotating interface 1032 .

In S106, the surgical device 100 receives a second confirmation signal. The second confirmation signal is sent by the surgical computer 3 to the surgical device 100 . In one embodiment, when the surgical end T _surgical of the surgical tool 200 is close to an opening of the surgical tool slot of the surgical tool box 300, and the surgical tool axis T _axis is connected to the surgical tool slot The second confirmation signal is sent when the tool slot axis is aligned. When the surgical tool 200 is placed in the surgical tool slot, the tool slot axis coincides with the surgical tool axis T _axis . Meanwhile, the surgical computer 3 is configured to determine a second spatial pattern, wherein the second spatial pattern is formed by at least one tool box mark 301 and one surgical tool mark 201, or at least one device mark 105 and at least one Tool box marking 301 is formed.

In S107, a second control signal is sent to the surgical tool zero-latch interface 106 in the surgical device 100 according to the second confirmation signal. In one embodiment, after the surgical device 100 receives the second confirmation signal, the controller of the surgical device 100 sends the second control signal to the surgical tool zero-latch interface 106 .

In S108, the surgical tool 200 is withdrawn from the adapter 104 to the surgical tool box 300 according to the second control signal. In one embodiment, the surgical tool 200 is withdrawn from the adapter 104 by the repulsive force provided by the surgical tool zero latch interface 106 , which may be provided by a pressure differential or electromagnetic force within the channel 1041 . repulsive force. In another embodiment, the surgical tool zero-latch interface 106 withdraws the surgical tool 200 from the adapter 104 and into the The surgical tool box 300 is described.

FIG. 17 illustrates a method of removing surgical tool 200 already in surgical device 100, according to an embodiment of the present disclosure. The method includes:

In S201, the surgical device 100 receives a third confirmation signal. The third confirmation signal may be sent by the surgical computer 3 to the surgical device 100 . In one embodiment, when the surgical end T _surgical of the surgical tool 200 is close to an opening of the surgical tool slot of the surgical tool box 300, and the surgical tool axis T _axis is connected to the surgical tool slot The third confirmation signal is sent when the tool slot axis is aligned. When the surgical tool 200 is placed in the surgical tool slot, the tool slot axis coincides with the surgical tool axis T _axis . Meanwhile, the surgical computer 3 is configured to determine a second spatial pattern, wherein the second spatial pattern is formed by at least one tool box mark 301 and one surgical tool mark 201, or at least one device mark 105 and at least one Tool box marking 301 is formed.

In S202, a third control signal is sent to the surgical tool zero-latch interface 106 in the surgical device 100 according to the third confirmation signal. In one embodiment, after the surgical device 100 receives the third confirmation signal, the controller of the surgical device 100 sends the third control signal to the surgical tool zero-latch interface 106 .

In S203, a repulsive force is provided through the surgical tool zero latch interface 106 according to the third control signal. In one embodiment, by sending a control signal to drive the air pump in the housing 102, the air channel 1061 provides air to the channel 1041, thereby providing a repulsive force. In another embodiment, the repulsive force is provided by sending a control signal to drive the electromagnet 1062 to have the same polarity as the permanent magnet 202 on the surgical tool 200 .

In S204 , the surgical tool 200 is moved by the repulsive force from the surgical tool zero latch interface 106 and over the surgical tool stop 1042 in the channel 1041 of the adaptor 104 of the surgical device 100 . In one embodiment, when the surgical tool 200 passes the surgical tool stop 1042, the free end TS _free of the surgical tool stop 1042 is pushed toward the fixed end TS _fixed by the surgical tool 200, thereby allowing all the The surgical tool 200 clears the surgical tool stop 1042 .

In S205 , the surgical tool 200 is withdrawn from the channel 1041 of the adapter 104 to the surgical tool box 300 by the repulsive force from the surgical tool zero-latch interface 106 .

According to an embodiment of the present disclosure, FIG. 18 illustrates a method of the surgical device 100 for coping with leakage current. The method includes:

In S301, the leakage current in the surgical device 100 is detected through a leakage current feedback circuit. In one embodiment, the leakage feedback circuit is connected to the power terminal of the rotary interface 1032 or the motor 103 . In addition, the leakage feedback circuit is configured to send a feedback signal to the controller disposed in the housing 102 .

In S302 , after detecting the leakage, a fourth control signal is sent to the surgical tool zero-latch interface 106 that is providing attractive force in the channel 1041 of the adapter 104 of the surgical device 100 . The controller sends the fourth control signal according to the feedback signal sent from the leakage feedback circuit.

In S303 , the suction is stopped in the channel 1041 through the surgical tool zero-latch interface 106 according to the fourth control signal. Since the attractive force is no longer provided, the surgical tool 200 falls from the surgical tool zero-latch interface 106 due to gravity, thus unhooking the adaptor end T _adaptor of the surgical tool 200 from the rotating interface 1032 .

In S304, the surgical tool 200 dropped from the motor 103 is caught by the surgical tool stopper 1042 in the channel 1041 after the attractive force disappears. In one embodiment, the surgical tool 200 includes a recessed portion facing the inner wall of the channel 1041, the recessed portion is disposed between the adaptor end T _adaptor and the surgical end T _surgical , and the surgical The tool stop 1042 is configured to hold the surgical tool 200 by snapping the free end TS _free into the recess.

In S305 , when the leakage feedback circuit does not detect leakage, a fifth control signal is sent to the surgical tool zero-latch interface 106 . In one embodiment, the fifth control signal is sent by the controller of the surgical device 100 to the surgical tool zero-latch interface 106 when the leakage feedback circuit does not detect the leakage.

In S306, an attractive force is provided through the surgical tool zero-latch interface 106 according to the fifth control signal. In one embodiment, by sending a control signal to drive the gas pump in the housing 102, the gas channel 1061 provides a pressure differential to the channel 1041, thereby providing an attractive force, for example, to draw gas from the channel. 1041 pulled away. In another embodiment, the attractive force is provided by sending a control signal to drive the electromagnet 1062 to have a different polarity than the permanent magnet 202 on the surgical tool 200 .

In S307 , the surgical tool 200 is pulled from the surgical tool stopper 1042 toward the motor 103 and held to the motor 103 with an attractive force from the surgical tool zero-latch interface 106 . The surgical tool 200 compresses the surgical tool stop 1042 and slides over the surgical tool stop 1042 when the surgical tool zero latch interface 106 provides an attractive force. As a result, the adaptor end T _adaptor of the surgical tool 200 moves toward and attaches to the rotary interface 1032 of the motor 103 . By continuously providing attractive force, the adaptor end T _adaptor is held on the rotating interface 1032 to perform a surgical operation.

According to an embodiment of the present disclosure, a macro-calibration operation method between the surgical device 100 and the surgical tool 200 using the spatial pattern SP and the geometric relationship GR is described in FIGS. 19-21 . The macro calibration is used to ensure that the surgical tool 200 is properly mounted to the surgical device 100 . FIG. 19 shows a spatial pattern SP formed by a plurality of device markers 105 and a surgical tool marker 201 according to an embodiment of the present disclosure. FIG. 20 shows the spatial pattern SP in FIG. 19 in simplified form for clear description. According to an embodiment of the present disclosure, FIG. 21 presents the spatial pattern SP and the geometric relationship GR. In one embodiment, a tracker device (eg, tracker 4 shown in FIG. 1 ) is configured to obtain optical signals from the plurality of device markers 105a - 105c and the surgical tool marker 201 . The tracker device can then generate a plurality of coordinates (eg, Cartesian, cylindrical, spherical) corresponding to the locations where the plurality of markers are observed from the light signals it receives. For example, the coordinates (X ₁ , Y ₁ , Z ₁ ) can be assigned to the device mark 105a; similarly, the coordinates of the device mark 105b are (X ₂ , Y ₂ , Z ₂ ); the device mark 105c The coordinates are (X ₃ , Y ₃ , Z ₃ ); the coordinates of the surgical tool mark 201 are (X ₄ , Y ₄ , Z ₄ ). Furthermore, the coordinates (X ₁ , Y ₁ , Z ₁ ), (X ₂ , Y ₂ , Z ₂ ), (X ₃ , Y ₃ , Z ₃ ) and (X ₄ , Y ₄ , Z ₄ ) collectively represent The space pattern SP formed between the marks.

As shown in FIG. 21 , a three-dimensional (3D) geometric relationship GR represents that the surgical tool 200 is properly held on the rotating interface 1032 , and the geometric relationship GR can be stored in the surgical computer 3 as shown in FIG. 1 . . In this way, the coordinates of the spatial pattern SP observed by the tracker 4 can be sent to the surgical computer 3 for comparison with the 3D geometric relationship GR. The surgical computer 3 is configured to determine whether the surgical tool 200 is correctly mounted on the surgical device 100 based on the comparison. For example, as shown in FIG. 21 , when the coordinates of the spatial pattern SP do not match the 3D geometric relationship GR, the surgical computer 3 will regard the surgical tool 200 as incorrectly installed in the surgery Device 100 .

It should be noted that FIG. 21 exaggerates the deviation between the 3D geometric relationship GR and the coordinates of the spatial pattern SP for clarity of description. In fact, the deviation between the 3D geometric relationship GR and the coordinates of the spatial pattern SP can be as small as the detection limit of the tracker 4 . In fact, every tracker device has a default resolution that determines how much movement the tracker device can detect for a marker. Accordingly, the detection limit can be defined as the minimum amount of motion that the tracker device can detect, eg, about 0.3 mm. In other words, the tracker 4 cannot detect movement of the device marker 105 or the surgical tool marker 201 less than the detection limit. However, any movement of the marker that is not detected by the tracker can lead to uncertainty during the procedure. For example, a 0.1 mm deviation of the surgical tool marking 201 may be a significant deviation at the surgical end T _surgical of the surgical tool 200 . Thus, micro-calibration operations can be performed on individual markers (eg, surgical tool marker 201, device markers 105a, 105b, and 105c) according to the tolerance range, ensuring that the location of each marker is centered on its assigned coordinates. In this way, the installation accuracy (and the accuracy of the surgical operation) between the surgical device 100 and the surgical tool 200 can be further improved.

The micro-calibration is further illustrated in FIGS. 22 and 23 according to an embodiment of the present disclosure. FIG. 22 shows that the spatial pattern SP almost, but not completely, matches the geometric relationship GR, according to an embodiment of the present disclosure. In this case, since all coordinates of the spatial pattern SP fall within a plurality of allowable ranges AA correspondingly, the surgical tool 200 is determined to be correctly mounted on the surgical device, wherein the determination and Not as accurate as expected. FIG. 23 shows markings within an acceptance range AA according to an embodiment of the present disclosure. In an embodiment of the present disclosure, the surgical computer 3 is configured to define an acceptable range AA for each coordinate in the coordinate system (such as a Cartesian coordinate system) of the tracker 4, And the marks in the allowable area AA can be recognized by the tracker 4 as the corresponding coordinates assigned to the allowable area AA by the surgical computer 3 . For example, as shown in FIG. 23 , the coordinates (X ₄ , Y ₄ , Z ₄ ) may be assigned to the surgical tool marks 201 in the allowable range AA (X ₄ , Y ₄ , Z ₄ ) .

In one embodiment, the acceptable range AA(X ₄ , Y ₄ , Z ₄ ) is a sphere, and the radius of the sphere is defined as the sum of the detection limit and the radius of the surgical tool marker 201 . combine. As mentioned above, as long as the surgical tool mark 201 stays within the allowable range AA (X ₄ , Y ₄ , Z ₄ ), the tracker 4 will not be able to detect the detection limit due to the detection limit. Movement of the surgical tool marker 201, in other words, the coordinates of the surgical tool marker 201 are not changed or reassigned. Therefore, the tracker 4 cannot detect the exact position of the surgical tool marker 201 within an acceptable range AA (eg, AA(X ₄ , Y ₄ , Z ₄ )). In this case, the surgical device 100 may perform the micro-calibration. In one embodiment, the surgical device 100 is configured to calibrate the surgical tool marker 201 within the allowable range AA(X ₄ , Y ₄ , Z ₄ ) by the multi-axis motion platform 101 . Location. More specifically, the position of the surgical tool mark 201 can be calibrated by moving the surgical tool mark center TMC of the surgical tool mark 201 to coincide with the allowable range center AAC. The vector that the surgical tool marking center TMC needs to move to coincide with the allowable range center AAC is called the center deviation CD, and the center deviation CD is defined by the linear distance and direction therebetween. In addition, the center deviation CD can be determined by the operation computer 3 . In one embodiment, the center deviation CD is determined as follows: As an example, under the Cartesian coordinates of the tracker 4, the surgical tool marker 201 is an initial position located in the acceptable range AA.

The surgical tool marker 201 is moved in a first direction (for example, along the X-axis of the Cartesian system) until it reaches the edge of the allowable range AA, whereby the multi-axis motion platform 101 of the fourth The motion encoder records a moving distance D ₁ , and then the surgical tool mark 201 is moved back to the initial position.

The surgical tool marker 201 is moved in a second direction (eg, along the Y-axis of the Cartesian system) until it reaches the edge of the allowable range AA, whereby the multi-axis motion platform 101 has a second _The motion encoder records a moving distance D2, and then the surgical tool marker 201 is moved back to the initial position.

Move the surgical tool marker 201 in a third direction (eg, along the Z-axis of the Cartesian system) until reaching the edge of the allowable range AA, whereby the second multi-axis motion platform 101 The motion encoder records a moving distance _D3 , and then the surgical tool marker 201 is moved back to the initial position.

It should be noted that the first direction, the second direction and the third direction are three different directions, and the angular relationship between the three is known. It should also be noted that when the change of the coordinates of the surgical tool mark 201 is detected by the tracker 4, it can be determined that the edge of the acceptable range AA is reached, in other words, the Motion is greater than the detection limit. For example, when the surgical tool mark 201 crosses the edge of the allowable range AA (X ₄ , Y ₄ , Z ₄ ), the tracker 4 recognizes that the coordinates of the mark 201 are from (X ₄ , Y ₄ , Z ₄ ) become different coordinates, thus reaching the edge of the allowable range AA(X ₄ , Y ₄ , Z ₄ ). The moving distances D ₁ , D ₂ and D ₃ are sent to the surgical computer 3 , and the moving distances D ₁ , D ₂ , D ₃ and the first direction, The angular relationship between the second direction and the third direction determines the center deviation CD. Therefore, the surgical tool marker 201 can be moved by the multi-axis motion platform 101 according to the center deviation CD so as to be located at the center AAC of the acceptable range.

The same calibration techniques can also be applied to the device markers 105, although the surgical tool marker 201 is used as an example to illustrate the microscopic calibration within the allowable range. In an embodiment of the present disclosure, after calibrating the position of the surgical tool mark 201 to coincide with the center AAC of the allowable range, the surgical tool mark 201 can be The robotic arm 5 moves the surgical device 100 , thereby moving and aligning the device markers 105 of the surgical device 100 . In this case, for each movement of the device marker 105 during calibration, the multi-axis motion platform 101 moves the surgical tool marker 201 in reverse, keeping the surgical tool marker 201 calibrated position remains unchanged. Therefore, after calibrating the device marker 105 and the surgical tool marker 201 within the corresponding tolerance range, the accuracy of automatically installing the surgical tool 200 to the surgical device 100 can be improved.

In another embodiment of the present disclosure, when the surgical tool 200 mounted on the surgical device 100 is still in the surgical tool box 300 , the device marking may be performed through the multi-axis motion platform 101 105 micro-calibration. In this case, the position of the surgical tool box 300 is configured to be fixed in the surgical environment, so the position of the moving end 1013 of the multi-axis motion platform 101 and the surgical tool marker 201 are indirectly limited in the surgical tool box 300 . The robotic arm 5 connected to the surgical device 100 is configured to passively move (ie, passive linkage) through the stable end 1011 of the multi-axis motion platform 101, so the stable end 1011 and the device The marker 105 can be moved relative to the moving end 1013 and the surgical tool marker 201 so that the device marker can be performed 105 micro-calibration. It should be noted that there is no particular order in the micro-calibration of both the surgical tool markings 201 and the device markings 105 .

The embodiments shown and described above are examples only. Numerous details are often present in the art and therefore have not been shown or described. Even though numerous features, advantages, and structural and functional details of the technology have been set forth in the foregoing description, this disclosure is merely illustrative of the technology and changes may be made in detail, particularly in the principles and claims of the disclosure Changes to the shape, size and arrangement of components are to be made within the full scope of the broad meanings of the terms used. Therefore, it will be understood that the above-described embodiments may be modified within the scope of the claims.

1: surgical staff

2: Subject

3: surgical computer

4: Tracker

5: Robotic arm

100: Surgical Devices

200, 200a: Surgical Tools

300: Surgical Tool Box

301: Tool Box Marker

100: Server System

Claims (21)

A surgical device for holding a surgical tool, comprising: a multi-axis motion platform with a stable end and a motion end, the multi-axis motion platform is configured to generate relative motion between the motion end and the stabilized end; a a housing fixed to the stable end of the multi-axis motion platform; a motor having a rotating interface, the motor is configured to pass through the rotating interface when the surgical tool is held on the rotating interface Rotating the surgical tool; an adapter connected to the multi-axis motion platform and directionally fixed with the motion end of the multi-axis motion platform, the adapter configured to move with the motion end, and the The adapter includes: a motor end, a surgical tool end, a surgical tool stopper disposed between the motor end and the surgical tool end, and a channel extending between the motor end and the surgical tool end wherein the channel is configured to receive the rotary interface from the motor end and the surgical tool from the surgical tool end, wherein the surgical tool stop has a fixed end secured to the surgical tool end an adapter, a free end extending to the channel, and an elastic member disposed between the free end and the fixed end, wherein the elastic member is configured to reset the free end pushed toward the fixed end, wherein , the surgical tool stopper is configured to catch the surgical tool in the channel through the free end when the surgical tool is dropped from the rotating interface; a surgical tool zero latch interface exposed to the channel of the adapter and is configured to An attractive force is provided in the channel to hold the surgical tool to the rotating interface. The surgical device of claim 1, the surgical tool stop being spaced from the surgical tool when the surgical tool is held on the rotating interface. The surgical device of claim 1, the free end of the surgical tool stop including a ball that contacts the surgical tool when the surgical tool is retained in the rotating interface, wherein the surgical tool The balls are configured to rotate freely to reduce friction between the surgical tool stop and the surgical tool. The surgical device of claim 1 further comprising a leakage current feedback circuit coupled to the motor and configured to detect leakage current, wherein the surgical tool zero latch interface is further configured to detect at the leakage current feedback circuit Stop providing attraction after leakage. The surgical device of claim 4, wherein the surgical tool stopper is further configured to retain the surgical tool from the insulation between the rotating interfaces of the motor. The surgical device of claim 1, the surgical tool zero-latch interface further configured to provide an attractive force for the surgical tool to clear the surgical tool stop, whereby the surgical tool is released from all of the adapter's The outside of the channel is moved into the inside, and the surgical tool is held on the rotating interface. The surgical device of claim 1, the surgical tool zero-latch interface further configured to provide a repulsive force to the surgical tool past the surgical tool stop, whereby the surgical tool is removed from the rotational interface Detach and the surgical tool is moved from inside to outside of the channel of the adapter. The surgical device of claim 1, said adapter further comprising a bearing exposed in said channel and disposed between said motor end of said adapter and said surgical tool stop, said bearing arrangement To stabilize the rotation of the surgical tool. The surgical device of claim 8, the surgical tool only interacts with the surgical tool zero-latch interface, the rotary interface, and the Bearing physical contact. The surgical device of claim 1, the surgical tool zero-latch interface comprising a gas channel extending within the rotating interface and in fluid communication with the channel of the adapter, wherein the gas channel is configured to allow gas flow Therethrough, and the surgical tool zero-latch interface is further configured to provide a repulsive force, wherein the surgical tool zero-latch interface provides attractive and repulsive forces through a pressure differential created by the gas channel. The surgical device of claim 1, further comprising an air pump disposed within the housing and connected to the surgical tool zero-latch interface, the air pump passing through all of the surgical tool zero-latch interface and the adapter. the channels are in fluid communication, wherein the air pump is configured to draw gas out of the channels of the adapter via the surgical tool zero-latch interface to generate an attractive force, And the gas pump is further configured to inject gas into the channel of the adapter via the surgical tool zero-latch interface to generate a repulsive force. The surgical device of claim 1, the surgical tool zero-latch interface comprising an electromagnet configured to electromagnetically generate attractive and repulsive forces, wherein the attractive force is generated by making the electromagnet polarities different from the surgical tool is created, and the repulsive force is created by making the electromagnet the same polarity as the surgical tool. The surgical device of claim 1, the adaptor further comprising a connecting portion disposed outside the surgical tool end of the adaptor, and the surgical tool including a marker support, wherein the connecting portion is configured to connect the the marker support of the surgical tool to secure the marker support to the adapter as the surgical tool rotates with the rotating interface. The surgical device of claim 13, further comprising the surgical tool, the surgical tool having a first end and a second end, the surgical tool comprising: a surgical tool body extending from the first end and the second end the marker support is arranged between the first end and the second end and is closer to the first end; a marker bearing is arranged between the surgical tool body and the marker support, And the marker bearing is configured to facilitate free rotation of the marker support around the surgical tool body; wherein the axis of rotation of the marker support defines a surgical tool axis. The surgical device of claim 14, the surgical tool further comprising a first directional element fixed to the marker support and a second directional element fixed to the surgical tool body; wherein the first directional element A directional element is disposed between the marker support and the second directional element; wherein, when viewed along the surgical tool axis, the first directional element and the second directional element have the same cross-sectional shape. The surgical device of claim 15, wherein the motor is configured to rotate the surgical tool so that the cross-sectional shape of the second directional element coincides with the cross-sectional shape of the first directional element, thereby converting the first direction The directional element and the second directional element are placed in a directional surgical tool slot. The surgical device of claim 15, the first directional element and the second directional element each comprise an irregular polygonal profile when viewed along the surgical tool axis. The surgical device of claim 15, the first directional element and the second directional element have a non-polygonal shape that lacks rotational symmetry when viewed along the surgical tool axis. The surgical device of claim 1, further comprising the surgical tool, the surgical tool having a first end and a second end, and the surgical tool including a fiducial marker; wherein a surgical tool axis of the surgical tool defines to extend between the first end and the second end; wherein the fiducial marker is axially symmetrical to the surgical tool axis and is coaxially connected to the surgical tool. The surgical device of claim 1, further comprising the surgical tool, the surgical tool having a first end and a second end, and the surgical tool comprising a permanent magnet and a bearing connected to the surgical tool and the between the permanent magnets; wherein the permanent magnets are located between the first end and the second end of the surgical tool and closer to the first end; wherein the permanent magnets are configured for the surgical tool The appeal provided by the tool's zero-latch interface is reflected. The surgical device of claim 1, further comprising a set of first fiducial markers and said surgical tool, and said surgical tool comprising a second fiducial marker, wherein said set of first fiducial markers and said second fiducial marker is configured to form a spatial pattern recognizable by an optical sensor, wherein the spatial pattern includes a plurality of coordinates, and a match between the plurality of coordinates of the spatial pattern and a geometric relationship represents that the surgical tool is correctly held on the rotating interface.

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