WO2021239139A1 - 一种手术机器人机械臂的定位装置及定位方法 - Google Patents

一种手术机器人机械臂的定位装置及定位方法 Download PDF

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Publication number
WO2021239139A1
WO2021239139A1 PCT/CN2021/096983 CN2021096983W WO2021239139A1 WO 2021239139 A1 WO2021239139 A1 WO 2021239139A1 CN 2021096983 W CN2021096983 W CN 2021096983W WO 2021239139 A1 WO2021239139 A1 WO 2021239139A1
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WO
WIPO (PCT)
Prior art keywords
chuck
pull rod
surgical
base
control device
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Application number
PCT/CN2021/096983
Other languages
English (en)
French (fr)
Inventor
王建国
王晓伟
Original Assignee
苏州康多机器人有限公司
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Publication date
Application filed by 苏州康多机器人有限公司 filed Critical 苏州康多机器人有限公司
Priority to EP21812475.8A priority Critical patent/EP4159152A4/en
Publication of WO2021239139A1 publication Critical patent/WO2021239139A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/57—Accessory clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
    • A61B17/3421—Cannulas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking
    • A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs

Definitions

  • the invention relates to a medical device, in particular to a positioning device and a positioning method of a surgical robot manipulator arm.
  • Laparoscopic surgical robots have been widely used in minimally invasive abdominal surgery.
  • Laparoscopic surgical robots usually have three or four robotic arms instead of human arms to complete more complicated operations.
  • a few small holes are usually made in the patient's abdominal wall, and then the poking card is inserted into the human body through the small hole, and then the mechanical arm is placed in a suitable position, and the poking card is set on different mechanical arms to realize the poking card.
  • the robotic arm it is difficult to accurately align the robot arm to the position of the poke card during passive positioning, so that the poke card and the robot arm enter the direction coaxially.
  • the adjustment process brings the risk of secondary trauma to the patient’s abdominal wall wound. In severe cases, it may tear the wound and threaten the patient’s life.
  • the present invention provides a positioning device and a positioning method of a surgical robot manipulator.
  • the present invention is a positioning device for the mechanical arm of a surgical robot
  • the simulated operation poke card is located at the part above the identification line of the operation poke card to determine the exact position of the connection between the mechanical arm and the operation poke card.
  • the auxiliary positioning unit includes a positioning end, and the distance from the connection between the auxiliary positioning unit and the poke card holder to the end of the positioning end away from the connection is the same as that of the surgical poke and The distance from the connection of the stamp card holder to the identification line of the surgical stamp card satisfies a preset relationship.
  • the auxiliary positioning unit further includes a connecting end, the connecting end and the positioning end are connected to each other, the connecting end is used to be clamped on the card holder, and the positioning end is far away from the card holder.
  • One end of the connecting end has a smooth spherical shape.
  • the poke card holder includes a base, a first chuck and a second chuck arranged oppositely, a drawbar device and a drawbar control device,
  • the first chuck and the second chuck are both connected to the base, and the first chuck and the second chuck are adapted to rotate relative to the base,
  • the pull rod device is connected with the first chuck and the second chuck, and is used to drive the first chuck and the second chuck to clamp or loosen each other,
  • the tie rod control device cooperates with the tie rod device, and the tie rod device is locked or loosened when the first chuck and the second chuck are clamped to each other,
  • the connecting end of the auxiliary positioning unit is used for clamping between the first chuck and the second chuck.
  • the tie rod device includes a connecting plate and a tie rod, one end of the tie rod is a hinged end, the other end of the tie rod is a mounting end, and the mounting end of the tie rod is mounted on the base,
  • One ends of the first chuck and the second chuck are free ends, the other ends of the first chuck and the second chuck are connecting ends, and the first chuck and the second chuck are connected ends.
  • the joints of the chuck and the base are located between the respective free ends and the connecting ends,
  • One end of the connecting plate is hinged to the connecting ends of the first chuck and the second chuck, and the other end of the connecting plate is hinged to the hinged end of the pull rod,
  • the pull rod control device is used to lock or release the pull rod.
  • a baffle is provided on one side of the pull rod, and the baffle protrudes from the side,
  • the pull rod control device is a rod-shaped component, the pull rod control device is provided with a pull rod accommodating groove and a baffle accommodating groove, the width of the pull rod accommodating groove is greater than the width of the pull rod, and the pull rod control device is provided Between the opposite sides of the base, and the pull rod control device and the pull rod are perpendicular to each other, the pull rod control device is adapted to move between the opposite sides of the base,
  • the pull rod is clamped between the pull rod control device and the base, and the pull rod passes through the accommodating groove, and the baffle is suitable for being received in the baffle accommodating groove.
  • the side wall of the baffle accommodating groove blocks.
  • a first automatic reset device is provided between the mounting end of the pull rod and the base
  • a second automatic reset device is provided between the pull rod control device and the base
  • a limit position is provided on the base Block
  • the limit block is provided with an installation space for the pull rod to pass through
  • the pull rod passes through the installation space, and the pull rod is adapted to be closer to the first chuck and the second chuck and away from the first chuck and the second chuck relative to the limiting block. Sliding between the directions of the second chuck.
  • a left side wall is formed on the left side of the base
  • a right side wall is formed on the right side of the base
  • one end of the lever control device is a control end
  • a mounting hole is opened on the left side wall
  • the control end extends out of the base through the installation hole
  • the other end of the tie rod control device is the installation end
  • the installation end is arranged on the right side wall
  • the guide is arranged on the right side wall
  • the guide groove is suitable for accommodating the installation end of the tie rod control device, and the second automatic reset device is arranged in the guide groove.
  • a method for positioning a surgical robot's mechanical arm, using the above-mentioned positioning device of the surgical robot's mechanical arm includes:
  • the auxiliary positioning unit is removed, and the surgical stamp card located below the surgical stamp card identification line is connected with the stamp card holder.
  • the swinging mechanical arm so that the bottom center of the auxiliary positioning unit connected to the stamp card holder of the mechanical arm coincides with the surface center of the surgical stamp card identification line includes:
  • the auxiliary positioning unit is installed on the card holder of the mechanical arm so that the bottom center of the auxiliary positioning unit coincides with the surface center of the surgical card marking line.
  • the beneficial effect of the present invention is that: since the auxiliary positioning unit of the positioning device of the surgical robot manipulator arm of the present invention can be detachably connected to the card holder, the mechanical arm is adjusted so that the auxiliary positioning unit simulates the surgical card card Position the robotic arm, and then lock the robotic arm with the surgical card to avoid re-disassembly and assembly after locking the robotic arm with the surgical card, avoiding the risk of secondary trauma to the patient’s abdominal wall wound during the adjustment process, and achieve The rapid connection of the robotic arm and the surgical card greatly shortens the time required for pre-surgery preparations.
  • Fig. 1 is a structural diagram of a positioning device of a surgical robot manipulator arm of the present invention
  • Fig. 2 is a schematic diagram of the operating state of the surgical poking card used to connect with the surgical robot arm;
  • FIG. 3 is a structural diagram of an auxiliary positioning unit in the positioning device of the robotic arm of the surgical robot of the present invention
  • FIG. 4 is an axial view of the card holder in the positioning device of the robotic arm of the surgical robot of the present invention
  • Figure 5 is a front view of the clamping state of the card holder in the positioning device of the robotic arm of the surgical robot of the present invention
  • Fig. 6 is a front view of the released state of the card holder in the positioning device of the robotic arm of the surgical robot of the present invention
  • FIG. 7 is a structural diagram of the pull rod of the poke card holder in the positioning device of the robotic arm of the surgical robot of the present invention.
  • FIG. 8 is a structural diagram of the pull rod control device of the poke card holder in the positioning device of the surgical robot manipulator arm of the present invention.
  • FIG. 10 is a schematic diagram of the process of swinging the robot arm in the positioning method of the surgical robot robot arm of the present invention.
  • a positioning device for a surgical robot's robotic arm in an embodiment of the present invention includes a card holder 01 and an auxiliary positioning unit 03.
  • the card holder 01 is used to connect to the end of the robotic arm 02 to assist in positioning.
  • the unit 03 is detachably connected to the card holder 01.
  • the auxiliary positioning unit 03 is used to simulate the part of the surgical card 04 above the identification line of the patient's surgical card to determine the position of the robotic arm 02. Connect the mechanical arm 02 to the surgical card 04 at a suitable position.
  • auxiliary positioning unit 03 Since the auxiliary positioning unit 03 is detachably connected to the card holder 01, adjust the robot arm 02 so that the auxiliary positioning unit 03 simulates the position of the surgical card 04, then position the robot arm 02, and then connect the robot arm 02 to the surgical card holder. 04 lock to avoid re-disassembly after locking the robotic arm 02 and the surgical stamp card 04 to adjust the position of the robotic arm 02 to avoid the risk of secondary trauma to the patient's abdominal wall wound during the adjustment process, and to realize the robotic arm 02 and surgical stamping
  • the fast connection of Card 04 greatly shortens the time required for pre-operation preparations.
  • the auxiliary positioning unit 03 includes an integrally formed connecting end 31 and a positioning end 32, the connecting end 31 is used to be clamped on the card holder 01, and the positioning end 32 is far away from the connection
  • One end of the end 31 has a smooth spherical shape, and the distance between the connection end 31 of the auxiliary positioning unit 03 and the poke holder 01 to the end of the positioning end 32 away from the connection end 31 is the same as the operation poke 04 and the poke card
  • the distance from the connection of the holder 01 to the surface part of the identification line of the surgical stamp satisfies the preset relationship.
  • the auxiliary positioning unit 03 and the surgical card 04 when the auxiliary positioning unit 03 and the surgical card 04 are arranged in parallel, if the connection end 31 of the auxiliary positioning unit 03 and the card holder 01 is connected to the positioning end 32 away from the connection end 31
  • the distance between one end of the surgical stamp card 04 and the stamp card holder 01 is L1
  • the distance between the connection point of the surgical stamp card 04 and the stamp card holder 01 to the surface part of the surgical stamp card identification line is L2
  • L1 and L2 are equal.
  • the auxiliary positioning unit 03 may adopt a positioning poke with a length smaller than that of the surgical poke 02.
  • the auxiliary positioning unit 03 Since the end of the positioning end 32 away from the connecting end 31 has a smooth spherical shape, and L1 is equal to L2, when the apex of the smooth spherical surface at the end of the positioning end 32 coincides with the surface center of the patient's abdominal wall surgery poke card identification line, the auxiliary positioning unit 03 The position of the surgical poke card 04 can be simulated more accurately, and the position of the mechanical arm 02 determined thereby is more accurate.
  • the poke card holder 01 includes a base 11, a first chuck 12, a second chuck, a lever device, and a lever control device.
  • the second chuck is connected to the base 11, the first chuck 12 and the second chuck are arranged oppositely, and the first chuck 12 and the second chuck are adapted to rotate relative to the base 11, the tie rod device and the first chuck
  • the head 12 and the second chuck are connected to each other.
  • the tie rod device can drive the first chuck 12 and the second chuck to clamp or loosen each other.
  • the tie rod control device cooperates with the tie rod device. When the chucks are clamped to each other, the tie rod device is locked or the tie rod device is loosened, and the connecting end 31 of the auxiliary positioning unit 03 is used to clamp between the first chuck 12 and the second chuck.
  • the tie rod control device can lock the tie rod device to ensure the clamping of the first chuck 12 and the second chuck The state remains stable to avoid accidental injury to the patient and is easy to operate.
  • the tie rod device includes a connecting plate 13 and a tie rod 14.
  • One end of the tie rod 14 is a hinged end, the other end of the tie rod 14 is a mounting end, and the mounting end of the tie rod 14 is mounted on the base 11,
  • One end of the first chuck 12 and the second chuck is a free end
  • the other end of the first chuck 12 and the second chuck is a connecting end
  • the connection between the first chuck 12 and the second chuck and the base 11 is located Between the respective free end and the connecting end
  • One end of the connecting plate 13 is hinged to the connecting ends of the first chuck 12 and the second chuck, and the other end of the connecting plate 13 is hinged to the hinged end of the tie rod 14.
  • the direction of the chuck moves, the pull rod 14 drives the first chuck 12 and the second chuck to rotate relative to the base 11 through the connecting plate 13, and the free ends of the first chuck 12 and the second chuck move closer to each other, and the first chuck 12,
  • the second chuck is clamped; the pull rod 14 is pulled to move closer to the first chuck 12 and the second chuck.
  • the pull rod 14 drives the first chuck 12 and the second chuck to rotate relative to the base 11 through the connecting plate 13.
  • the free ends of the chuck 12 and the second chuck are far away from each other, and the first chuck 12 and the second chuck are loosened;
  • the draw rod control device 15 cooperates with the draw rod 14, and the draw rod control device 15 is used to lock or release the draw rod 14.
  • the pull rod control device can lock the pull rod to ensure that the clamping state of the first chuck and the second chuck remains stable, Avoid accidental injury to patients, and easy to operate.
  • a first automatic reset device 141 is provided between the installation end of the pull rod 14 and the base 11, specifically, the first automatic reset device 141 adopts a spring. After the pull rod control device 15 releases the pull rod 14, the pull rod 14 can be automatically reset, which makes the operation more convenient.
  • the base 11 is a plate-shaped member, and the left and right sides of the base 11 correspond to each other.
  • a baffle 142 is provided on one side of the tie rod 14.
  • the tie rod control device 15 is a rod-shaped component
  • one end of the tie rod control device 15 is the mounting end
  • the other end of the tie rod control device 15 is the control end
  • the mounting end and the control end of the tie rod control device 15 They are respectively arranged on two sides of the base 11 corresponding to each other, and the pull rod control device 15 and the pull rod 14 are perpendicular to each other
  • the pull rod control device 15 can move between the two sides corresponding to each other relative to the base 11, and the pull rod control device 15 is provided
  • the width of the tie rod accommodating groove 151 is greater than the width of the tie rod 14.
  • the width refers to the dimension along the coordinate axis X axis.
  • the tie rod accommodating groove 151 and the baffle accommodating groove 152 In communication with each other, the tie rod 14 is clamped between the tie rod control device 15 and the base 11, and the tie rod 14 passes through the tie rod accommodating groove 151. Move in the direction or away from the first chuck 12 and the second chuck.
  • the lever control device 15 is located at the left end, the baffle 142 is accommodated in the baffle accommodating groove 152 and is moved by the side wall of the baffle accommodating groove 152 Blocked, the pull rod 14 is locked.
  • the pull rod control device 15 is located at the right end, the baffle 142 comes out of the baffle accommodating groove 152, and the pull rod 14 is released.
  • a second automatic reset device 153 is provided between the installation end of the tie rod control device 15 and the base 11, specifically, the second automatic reset device 153 adopts a spring. Due to the setting of the second automatic reset device 153, when the force acting on the control end of the lever control device 15 disappears, the lever control device 15 can automatically reset, making the operation more convenient.
  • a limit block 16 is provided on the base 11, and the limit block 16 is located on the side of the tie rod control device 15 close to the installation end of the tie rod 14, and the limit block 16 is provided with an installation space for the tie rod 14 to pass through.
  • the limit block 16 and the base 11 are connected by bolts, and the installation space can be a through hole provided on the limit block 16, or a recess provided on the side surface of the limit block 16 facing the base 11. Groove; the pull rod 14 passes through the installation space on the limit block 16, and the pull rod 14 is suitable for relative to the limit block 16 in the direction close to the first chuck 12, the second chuck and away from the first chuck 12, the second chuck Sliding between the direction of the head.
  • the pull rod 14 can only move in the direction close to the first chuck 12 and the second chuck or away from the first chuck 12 and the second chuck. Shaking in the direction makes the card holder 01 more stable in the clamped state, avoiding injury to the patient during the operation.
  • the first chuck 12 and the second chuck are both in the shape of a semi-circular arc
  • a mounting groove 111 is opened in the middle of one side of the base 11
  • a left side wall 112 is formed on the left side of the base 11
  • a right side wall 112 is formed on the right side of the base 11.
  • the side wall 113 forms a bottom wall 114 at the bottom of the base 11.
  • the draw rod 14, the limit block 16, and the draw rod control device 15 are all arranged in the installation groove 111.
  • the control end and the installation end of the draw rod control device 15 are respectively arranged on the base 11 On the left side wall 112 and the right side wall 113, the installation end of the pull rod 14 is installed on the bottom wall 114.
  • the left side wall 112 is provided with a mounting hole
  • the control end of the tie rod control device 15 passes through the mounting hole to extend out of the base 11
  • the right side wall 113 is provided with a guide groove 115
  • the spring is provided in the guide groove 115
  • the guide groove 115 is suitable for accommodating the mounting end of the tie rod control device 15 so that the tie rod control device 15 can move left and right relative to the base 11. Since the control end extends out of the base 11, the control is more convenient; and the setting of the guide groove 115 restricts the movement direction of the pull rod control device 15 to the direction perpendicular to the pull rod 14, so that the card holder 01 is in the clamped state. more stable.
  • a positioning method of a surgical robot manipulator according to an embodiment of the present invention includes the following steps:
  • the connecting end 31 of the auxiliary positioning unit 03 on the card holder 01 on the robot arm 02 to be positioned, and swing the robot arm 02 to clamp the card holder connected to the end of the robot arm 02
  • the bottom center of the auxiliary positioning unit 03 on the device 01 coincides with the surface center of the surgical stamp card identification line, and the robot arm 02 is positioned so that the robot arm 02 remains in this position; as shown in Figure 10, the length of the auxiliary positioning unit 03 is The length of the part of the surgical poke card 04 above the identification line of the surgical poke card is equal.
  • the position of the robot arm 02 is the exact position where the robot arm 02 is suitable for connecting with the surgical poke card 04;
  • the end of the positioning end 32 of the auxiliary positioning unit 03 facing the identification line of the surgical poke card has a smooth spherical shape.
  • the robot arm 02 is swung so that the bottom center of the auxiliary positioning unit 03 on the poke card holder 01 is aligned with the surgical poke card.
  • the apex of the smooth spherical surface of the positioning end 32 coincides with the surface center of the surgical stamping card marking line;
  • the auxiliary positioning unit 03 is removed, and the surgical stamp card 04 located below the surgical stamp card identification line is connected with the stamp card holder 01.
  • the positioning method of the surgical robot manipulator in this embodiment is actually based on the use method of the positioning device of the surgical robot manipulator, and the positioning device of the surgical robot manipulator is used for positioning before performing the operation.
  • the positioning method of the surgical robot manipulator arm in this embodiment can use experimental dummy or training equipment as the implementation object, and the positioning device of the surgical robot manipulator arm in this embodiment is used for positioning before the operation to determine the target position. Place the patient's affected part at the target location during the operation, and then the operation can be started.
  • the present invention is a method for positioning the mechanical arm of a surgical robot.
  • the bottom center of the auxiliary positioning unit 03 on the card holder 01 connected to the mechanical arm 02 is aligned with the surface center of the surgical card marking line Coincidence, determine the exact position of the robot arm 02 suitable for connection with the surgical poke card 04 and position the robot arm 02, then lock the robot arm 02 and the surgical poke card 04 to avoid locking the robot arm 02 and the surgical poke card 04 again.
  • the disassembly and assembly avoids the risk of secondary trauma to the patient's abdominal wall wound during the adjustment process, and realizes the rapid connection of the robotic arm 02 and the surgical poke card 04, which greatly reduces the time required for pre-surgery preparations.

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Abstract

一种手术机器人机械臂(02)的定位装置及定位方法，属于医疗器械技术领域，其中手术机器人机械臂(02)的定位装置包括：戳卡夹持器(01)及辅助定位单元(03)，戳卡夹持器(01)用于连接于机械臂(02)末端，辅助定位单元(03)可拆卸连接于戳卡夹持器(01)上，辅助定位单元(03)用于模拟手术戳卡(04)位于患者手术戳卡(04)标识线以上的部分，以确定机械臂(02)与手术戳卡(04)连接的准确位置。手术机器人机械臂(02)的定位装置及定位方法能够避免调整机械臂(02)的过程中对患者腹壁伤口带来二次创伤的风险，并且实现机械臂(02)与手术戳卡(04)的快速连接，大大缩短了手术前准备工作所占用的时间。

Description

一种手术机器人机械臂的定位装置及定位方法 技术领域
本发明涉及一种医疗器械，具体而言，涉及一种手术机器人机械臂的定位装置及定位方法。
背景技术
腹腔镜手术机器人在腹腔微创手术中已被广泛使用，腹腔镜手术机器人通常由三条或者四条机械手臂代替人的手臂来完成比较复杂的手术。手术时，通常先在患者腹壁开几个小孔，然后将戳卡通过小孔插入人体内，再将机械手臂摆位到合适位置，将戳卡套装在不同的机械手臂上，从而实现戳卡与机械手臂的随动。但被动摆位时很难准确地将机械手臂对准戳卡的位置，使得戳卡与机械手臂进入方向同轴心，每次将戳卡与机械手臂锁定后都会再次拆装进行调整，调整过程中对患者腹壁伤口带来二次创伤风险，严重的可能会撕裂伤口，对患者的生命造成威胁。
发明内容
为解决上述问题之一，本发明提供一种手术机器人机械臂的定位装置及定位方法。
本发明一种手术机器人机械臂的定位装置，
包括戳卡夹持器及辅助定位单元，所述戳卡夹持器用于连接于机械臂末端，所述辅助定位单元可拆卸连接于所述戳卡夹持器上，所述辅助定位单元用于模拟手术戳卡位于手术戳卡标识线以上的部分，以确定所述机械臂与所述手术戳卡连接的准确位置。
可选地，所述辅助定位单元包括定位端，所述辅助定位单元与所述戳卡夹持器的连接处到所述定位端远离所述连接处的一端的距离与所述手术戳卡与所述戳卡夹持器的连接处至所述手术戳卡标识线的距离满足预设关系。
可选地，所述辅助定位单元还包括连接端，所述连接端与所述定位端相互连接，所述连接端用于夹持于所述戳卡夹持器上，所述定位端的远离所述连接端的一端为光滑球面形状。
可选地，所述戳卡夹持器包括底座、相对设置的第一夹头及第二夹头、拉杆装置及拉杆控制装置，
所述第一夹头、所述第二夹头均连接于所述底座上，所述第一夹头、所述第二夹头适于相对所述底座转动，
所述拉杆装置与所述第一夹头、所述第二夹头相连接，并用于带动所述第一夹头、所述第二夹头相互夹紧或松开，
所述拉杆控制装置与所述拉杆装置相配合，在所述第一夹头、所述第二夹头相互夹紧时将所述拉杆装置锁紧或放松，
所述辅助定位单元的连接端用于夹持于所述第一夹头、所述第二夹头之间。
可选地，所述拉杆装置包括连接板、拉杆，所述拉杆的一端为铰接端，所述拉杆的另一端为安装端，所述拉杆的安装端安装于所述底座上，
所述第一夹头、所述第二夹头的一端为自由端，所述第一夹头、所述第二夹头的另一端为连接端，所述第一夹头、所述第二夹头与所述底座的连接处均位于各自的所述自由端与所述连接端之间，
所述连接板一端分别与所述第一夹头、所述第二夹头的连接端相铰接，所述连接板的另一端与所述拉杆的铰接端相铰接，
所述拉杆控制装置用于锁定或放开所述拉杆。
可选地，所述拉杆的一侧边上设置有挡板，所述挡板凸出于所述侧边，
所述拉杆控制装置为杆状部件，所述拉杆控制装置上开设有拉杆容置槽及挡板容置槽，所述拉杆容置槽的宽度大于所述拉杆的宽度，所述拉杆控制装置设置于所述底座的相对的两侧边之间，并且所述拉杆控制装置与所述拉杆相互垂直，所述拉杆控制装置适于相对所述底座在所述相对的两侧边之间移动，
所述拉杆夹持于所述拉杆控制装置与所述底座之间，并且所述拉杆穿过所述容置槽，所述挡板适于容置于所述挡板容置槽内被所述挡板容置槽的侧壁阻挡。
可选地，所述拉杆的安装端与所述底座之间设置有第一自动复位装置，所述拉杆控制装置与所述底座之间设置有第二自动复位装置，所述底座上设 置有限位块，所述限位块上设置有供所述拉杆穿过的安装空间，
所述拉杆从所述安装空间穿过，所述拉杆适于相对所述限位块在靠近所述第一夹头、所述第二夹头的方向与远离所述第一夹头、所述第二夹头的方向之间滑动。
可选地，在所述底座的左侧形成左侧壁，在所述底座的右侧形成右侧壁，所述拉杆控制装置的一端为操控端，所述左侧壁上开设有安装孔，所述操控端穿过所述安装孔伸出所述底座外，所述拉杆控制装置的另一端为安装端，所述安装端设置于所述右侧壁上，所述右侧壁上设置导向槽，所述导向槽适于容纳所述拉杆控制装置的安装端，所述第二自动复位装置设置于所述导向槽内。
一种手术机器人机械臂的定位方法，采用上述手术机器人机械臂的定位装置，包括：
摆动机械臂，使连接在所述机械臂的戳卡夹持器上的辅助定位单元的底部中心与手术戳卡标识线的表面中心重合；
拆除所述辅助定位单元，将位于手术戳卡标识线以下的手术戳卡与所述戳卡夹持器相连接。
可选地，所述摆动机械臂，使连接在所述机械臂的所述戳卡夹持器上的所述辅助定位单元的底部中心与所述手术戳卡标识线的表面中心重合，包括：将所述辅助定位单元安装在所述机械臂的所述戳卡夹持器上，使所述辅助定位单元的底部中心与所述手术戳卡标识线的表面中心重合。
可选地，所述辅助定位单元朝向所述患者的一端为光滑球面形状；所述使所述辅助定位单元的底部中心与所述手术戳卡标识线的表面中心重合，包括：使所述光滑球面的顶点与所述手术戳卡标识线的表面中心重合。
与现有技术相比较，本发明的有益效果在于：由于本发明手术机器人机械臂的定位装置的辅助定位单元可拆卸连接于戳卡夹持器上，调整机械臂使辅助定位单元模拟手术戳卡的位置后，将机械臂定位，再将机械臂与手术戳卡锁定，避免将机械臂与手术戳卡锁定后再次拆装，避免调整过程中对患者腹壁伤口带来二次创伤风险，并且实现机械臂与手术戳卡的快速连接，大大缩短了手术前准备工作所占用的时间。
附图说明
图1为本发明手术机器人机械臂的定位装置的结构图；
图2为用于与手术机器人机械臂连接的手术戳卡的使用状态示意图；
图3为本发明手术机器人机械臂的定位装置中辅助定位单元的结构图；
图4为本发明手术机器人机械臂的定位装置中戳卡夹持器的轴视图；
图5为本发明手术机器人机械臂的定位装置中戳卡夹持器夹紧状态的主视图；
图6为本发明手术机器人机械臂的定位装置中戳卡夹持器松开状态的主视图；
图7为本发明手术机器人机械臂的定位装置中戳卡夹持器的拉杆的结构图；
图8为本发明手术机器人机械臂的定位装置中戳卡夹持器的拉杆控制装置的结构图；
图9为本发明手术机器人机械臂的定位方法的流程图；
图10为本发明手术机器人机械臂的定位方法中摆动机械臂的过程示意图。
附图标记说明：
01-戳卡夹持器；02-机械臂；03-辅助定位单元；04-手术戳卡；11-底座；111-安装槽；112-左侧壁、113-右侧壁；114-底壁；115-导向槽；12-第一夹头；13-连接板；14-拉杆；141-第一自动复位装置；142-挡板；15-拉杆控制装置；151-拉杆容置槽；152-挡板容置槽；153-第二自动复位装置；16-限位块。
具体实施方式
以下结合附图，对本发明上述的和另外的技术特征和优点作更详细的说明。
另外，在本发明的描述中需要理解的是，附图中“X”的正向代表左方，相应地，“X”的反向代表右方；“Y”的正向代表前面，相应地，“Y”的 反向代表后面；“Z”的正向代表上方，相应地，“Z”的反向代表下方，术语“X”、“Y”、“Z”等指示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。
如图1所示，本发明实施例一种手术机器人机械臂的定位装置，包括戳卡夹持器01及辅助定位单元03，戳卡夹持器01用于连接于机械臂02末端，辅助定位单元03可拆卸连接于戳卡夹持器01上，如图2所示，辅助定位单元03用于模拟手术戳卡04位于患者手术戳卡标识线以上的部分，以确定机械臂02的位置，使机械臂02在合适的位置与手术戳卡04连接。由于辅助定位单元03可拆卸连接于戳卡夹持器01上，调整机械臂02使辅助定位单元03模拟手术戳卡04的位置后，将机械臂02定位，再将机械臂02与手术戳卡04锁定，避免将机械臂02与手术戳卡04锁定后再次拆装，以调整机械臂02的位置，避免调整过程中对患者腹壁伤口带来二次创伤风险，并且实现机械臂02与手术戳卡04的快速连接，大大缩短了手术前准备工作所占用的时间。
在一些实施例中，如图3所示，辅助定位单元03包括一体成型的连接端31及定位端32，连接端31用于夹持于戳卡夹持器01上，定位端32的远离连接端31的一端为光滑球面形状，且辅助定位单元03的连接端31与戳卡夹持器01的连接处到定位端32的远离连接端31的一端部的距离与手术戳卡04与戳卡夹持器01的连接处至手术戳卡标识线的表面部分的距离满足预设关系。在一些具体的实施例中，当辅助定位单元03与手术戳卡04平行设置时，若辅助定位单元03的连接端31与戳卡夹持器01的连接处到定位端32的远离连接端31的一端部的距离为L1,手术戳卡04与戳卡夹持器01的连接处至手术戳卡标识线的表面部分的距离为L2,则L1与L2相等。具体地，辅助定位单元03可以采用长度小于手术戳卡02的定位戳卡。由于定位端32的远离连接端31的一端为光滑球面形状，且L1与L2相等，使定 位端32末端的光滑球面的顶点与患者腹壁手术戳卡标识线的表面中心重合时，辅助定位单元03能够更准确地模拟手术戳卡04的位置，由此确定的机械臂02的位置更准确。
在一些实施例中，如图4、图5、图6所示，戳卡夹持器01包括底座11、第一夹头12、第二夹头、拉杆装置及拉杆控制装置，第一夹头12、第二夹头均连接于底座11上，第一夹头12与第二夹头相对设置，并且第一夹头12、第二夹头适于相对底座11转动，拉杆装置与第一夹头12、第二夹头均相互连接，拉杆装置能带动第一夹头12、第二夹头相互夹紧或松开，拉杆控制装置与拉杆装置相配合，在第一夹头12、第二夹头相互夹紧时将拉杆装置锁紧或将拉杆装置放松，辅助定位单元03的连接端31用于夹持于第一夹头12、第二夹头之间。
由于拉杆装置能带动第一夹头12、第二夹头夹紧或松开，并且在夹紧状态时，拉杆控制装置能锁定拉杆装置，保证第一夹头12、第二夹头的夹紧状态保持稳定，避免患者受到意外伤害，并且便于操作。
具体地，拉杆装置包括连接板13、拉杆14，拉杆14的一端为铰接端，拉杆14的另一端为安装端，拉杆14的安装端安装于底座11上，
第一夹头12、第二夹头的一端为自由端，第一夹头12、第二夹头的另一端为连接端，第一夹头12及第二夹头与底座11的连接处位于各自的自由端与连接端之间，
连接板13一端分别与第一夹头12、第二夹头的连接端相铰接，连接板13的另一端与拉杆14的铰接端相铰接，拉动拉杆14向远离第一夹头12、第二夹头的方向移动，拉杆14通过连接板13带动第一夹头12、第二夹头相对底座11转动，第一夹头12、第二夹头的自由端相互靠拢，第一夹头12、第二夹头夹紧；拉动拉杆14向靠近第一夹头12、第二夹头的方向移动，拉杆14通过连接板13带动第一夹头12、第二夹头相对底座11转动，第一夹头12、第二夹头的自由端相互远离，第一夹头12、第二夹头松开；
拉杆控制装置15与拉杆14相配合，拉杆控制装置15用于锁定或放开拉杆14。
由于拉杆能带动第一夹头、第二夹头夹紧或松开，并且在夹紧状态时， 拉杆控制装置能锁定拉杆，保证第一夹头、第二夹头的夹紧状态保持稳定，避免患者受到意外伤害，并且便于操作。
在一些实施例中，拉杆14的安装端与底座11之间设置有第一自动复位装置141，具体地，第一自动复位装置141采用弹簧。在拉杆控制装置15放开拉杆14后，拉杆14能够自动复位，使操作更方便。
具体地，如图4所示，底座11为板状部件，底座11的左侧边、右侧边相互对应，如图7、图8所示，拉杆14的一侧边上设置有挡板142，挡板142凸出该侧边，拉杆控制装置15为杆状部件，拉杆控制装置15的一端为安装端，拉杆控制装置15的另一端为操控端，拉杆控制装置15的安装端及操控端分别设置于底座11的相互对应的两侧边上，并且拉杆控制装置15与拉杆14相互垂直，拉杆控制装置15可相对底座11在相互对应的两侧边之间移动，拉杆控制装置15上开设有拉杆容置槽151及挡板容置槽152，拉杆容置槽151的宽度大于拉杆14的宽度，宽度指沿坐标轴X轴方向的尺寸，拉杆容置槽151与挡板容置槽152相互连通，拉杆14夹持于拉杆控制装置15与底座11之间并且拉杆14穿过拉杆容置槽151，拉杆14适于相对拉杆控制装置15在靠近第一夹头12、第二夹头的方向或远离第一夹头12、第二夹头的方向移动，当拉杆控制装置15位于左端时，挡板142容置于挡板容置槽152内并被挡板容置槽152的侧壁阻挡，拉杆14被锁定，当拉杆控制装置15位于右端时，挡板142从挡板容置槽152内脱出，拉杆14被放开。
在一些实施例中，拉杆控制装置15的安装端与底座11之间设置有第二自动复位装置153，具体地，第二自动复位装置153采用弹簧。由于第二自动复位装置153的设置，当作用在拉杆控制装置15操控端的作用力消失后，拉杆控制装置15能够自动复位，使操作更方便。
在一些实施例中，底座11上设置有限位块16，限位块16位于拉杆控制装置15的靠近拉杆14的安装端的一侧，限位块16上设置有供拉杆14穿过的安装空间，具体地，限位块16与底座11之间通过螺栓连接，安装空间可以是设置于限位块16上的通孔，还可以是设置在限位块16的朝向底座11的一侧面上的凹槽；拉杆14穿过限位块16上的安装空间，并且拉杆14 适于相对限位块16在靠近第一夹头12、第二夹头的方向与远离第一夹头12、第二夹头的方向之间滑动。由于限位块16的设置，限制了拉杆14仅能在靠近第一夹头12、第二夹头的方向或远离第一夹头12、第二夹头的方向上移动，避免拉杆14在左右方向晃动，使戳卡夹持器01在夹紧状态时更稳定，避免手术过程中患者受伤。
具体地，第一夹头12及第二夹头均为半圆弧状，底座11的一侧面中部开设有安装槽111，在底座11的左侧形成左侧壁112，在底座11的右侧形成右侧壁113，在底座11的底部形成底壁114，拉杆14、限位块16、拉杆控制装置15均设置于安装槽111内，拉杆控制装置15的操控端及安装端分别设置于底座11的左侧壁112、右侧壁113上，拉杆14的安装端安装于底壁114上。如图1所示，其中左侧壁112上开设有安装孔，拉杆控制装置15的操控端穿过安装孔伸出底座11外，右侧壁113上设置导向槽115，弹簧设置于导向槽115内，导向槽115适于容纳拉杆控制装置15的安装端，使拉杆控制装置15能够相对底座11左右移动。由于操控端伸出底座11外，操控更方便；而导向槽115的设置，将拉杆控制装置15的移动方向限制在与拉杆14相垂直的方向，使戳卡夹持器01在夹紧状态时更稳定。
戳卡夹持器01在使用时，打开第一夹头12、第二夹头，套在辅助定位单元03上，用手指按压第一夹头12、第二夹头，拉动拉杆14，拉杆14向下移动并使得第一自动复位装置141处于压紧状态，第二自动复位装置153弹出，拉杆14上的挡板142置于拉杆控制装置15上的挡板容置槽152内，第一夹头12、第二夹头锁紧在辅助定位单元03上；定位结束时，按压拉杆控制装置15的操控端，第二自动复位装置153压缩，按压拉杆控制装置15向右移动，拉杆14上的挡板142从拉杆控制装置15上的挡板容置槽152内脱出，第一自动复位装置141弹出，推动拉杆14上移，第一夹头12、第二夹头从辅助定位单元03上松开。
患者腹壁对应手术的位置开有3-4个手术孔，手术孔内插入有手术戳卡04，本发明实施例一种手术机器人机械臂的定位方法，如图9所示，包括下述步骤：
S1、摆动机械臂02，使连接在机械臂02末端的戳卡夹持器01上的辅 助定位单元03的底部中心与手术戳卡标识线的表面中心重合。
具体地，将辅助定位单元03的连接端31夹持在需要定位的机械臂02上的戳卡夹持器01上，摆动该机械臂02，使连接在该机械臂02末端的戳卡夹持器01上的辅助定位单元03的底部中心与手术戳卡标识线的表面中心重合，定位机械臂02，使机械臂02保持该位置不变；如图10所示，辅助定位单元03的长度与手术戳卡04位于手术戳卡标识线以上的部分的长度相等，此时机械臂02的位置即该机械臂02适于与手术戳卡04连接的准确位置；
具体地，辅助定位单元03的定位端32朝向手术戳卡标识线的一端为光滑球面形状，在摆动机械臂02，使戳卡夹持器01上的辅助定位单元03的底部中心与手术戳卡标识线的表面中心重合的过程中，使定位端32的光滑球面的顶点与手术戳卡标识线的表面中心重合；
S2、拆除辅助定位单元03，将位于手术戳卡标识线以下的手术戳卡04与戳卡夹持器01相连接。
采用上述步骤S1至S2依次完成各机械臂02的定位后，即可开始手术。
需要说明的是，本实施例中的手术机器人机械臂的定位方法实际上是基于手术机器人机械臂的定位装置的使用方法，在实施手术之前采用手术机器人机械臂的定位装置进行定位。例如，本实施例中的手术机器人机械臂的定位方法可以采用实验用假人或训练器材作为实施对象，在手术之前利用本实施例中的手术机器人机械臂的定位装置进行定位，确定目标位置，在手术时将患者的患处放置于目标位置，即可开始手术。
本发明一种手术机器人机械臂的定位方法，通过摆动机械臂02，使连接在机械臂02上的戳卡夹持器01上的辅助定位单元03的底部中心与手术戳卡标识线的表面中心重合，确定机械臂02适于与手术戳卡04连接的准确位置并将机械臂02定位后，再将机械臂02与手术戳卡04锁定，避免将机械臂02与手术戳卡04锁定后再次拆装，避免调整过程中对患者腹壁伤口带来二次创伤风险，并且实现机械臂02与手术戳卡04的快速连接，大大缩短了手术前准备工作所占用的时间。
虽然本公开披露如上，但本公开的保护范围并非仅限于此。本领域技术 人员在不脱离本公开的精神和范围的前提下，可进行各种变更与修改，这些变更与修改均将落入本发明的保护范围。

Claims (11)

  1. 一种手术机器人机械臂的定位装置，其中，
    包括戳卡夹持器(01)及辅助定位单元(03)，所述戳卡夹持器(01)用于连接于机械臂(02)末端，所述辅助定位单元(03)可拆卸连接于所述戳卡夹持器(01)上，所述辅助定位单元(03)用于模拟手术戳卡(04)位于手术戳卡标识线以上的部分，以确定所述机械臂(02)与所述手术戳卡(04)连接的准确位置。
  2. 根据权利要求1所述的手术机器人机械臂的定位装置，所述辅助定位单元(03)包括定位端(32)，所述辅助定位单元(03)与所述戳卡夹持器(01)的连接处到所述定位端(32)远离所述连接处的一端的距离与所述手术戳卡(04)与所述戳卡夹持器(01)的连接处至所述手术戳卡标识线的距离满足预设关系。
  3. 根据权利要求1所述的手术机器人机械臂的定位装置，其中，
    所述辅助定位单元(03)还包括连接端(31)，所述连接端(31)与所述定位端(32)相互连接，所述连接端(31)用于夹持于所述戳卡夹持器(01)上，所述定位端(32)的远离所述连接端(31)的一端为光滑球面形状。
  4. 根据权利要求1所述的手术机器人机械臂的定位装置，其中，
    所述戳卡夹持器(01)包括底座(11)、相对设置的第一夹头(12)及第二夹头、拉杆装置及拉杆控制装置(15)，
    所述第一夹头(12)、所述第二夹头均连接于所述底座(11)上，所述第一夹头(12)、所述第二夹头适于相对所述底座(11)转动，
    所述拉杆装置与所述第一夹头(12)、所述第二夹头相连接，并用于带动所述第一夹头(12)、所述第二夹头相互夹紧或松开，
    所述拉杆控制装置(15)与所述拉杆装置相配合，在所述第一夹头(12)、所述第二夹头相互夹紧时将所述拉杆装置锁紧或放松，
    所述辅助定位单元(03)的连接端(31)用于夹持于所述第一夹头(12)、所述第二夹头之间。
  5. 根据权利要求4所述的手术机器人机械臂的定位装置，其中，
    所述拉杆装置包括连接板(13)、拉杆(14)，所述拉杆(14)的一端 为铰接端，所述拉杆(14)的另一端为安装端，所述拉杆(14)的安装端安装于所述底座(11)上，
    所述第一夹头(12)、所述第二夹头的一端为自由端，所述第一夹头(12)、所述第二夹头的另一端为连接端，所述第一夹头(12)、所述第二夹头与所述底座(11)的连接处均位于各自的所述自由端与所述连接端之间，
    所述连接板(13)一端分别与所述第一夹头(12)、所述第二夹头的连接端相铰接，所述连接板(13)的另一端与所述拉杆(14)的铰接端相铰接，
    所述拉杆控制装置(15)用于锁紧或放松所述拉杆(14)。
  6. 根据权利要求5所述的手术机器人机械臂的定位装置，其中，
    所述拉杆(14)的一侧边上设置有挡板(142)，所述挡板(142)凸出于所述侧边，
    所述拉杆控制装置(15)为杆状部件，所述拉杆控制装置(15)上开设有拉杆容置槽(151)及挡板容置槽(152)，所述拉杆容置槽(151)的宽度大于所述拉杆(14)的宽度，所述拉杆控制装置(15)设置于所述底座(11)的相对的两侧边之间，并且所述拉杆控制装置(15)与所述拉杆(14)相互垂直，所述拉杆控制装置(15)适于相对所述底座(11)在所述相对的两侧边之间移动，
    所述拉杆(14)夹持于所述拉杆控制装置(15)与所述底座(11)之间，并且所述拉杆(14)穿过所述拉杆容置槽(151)，所述挡板(142)适于容置于所述挡板容置槽(152)内被所述挡板容置槽(152)的侧壁阻挡。
  7. 根据权利要求6所述的手术机器人机械臂的定位装置，其中，
    所述拉杆(14)的安装端与所述底座(11)之间设置有第一自动复位装置(141)，所述拉杆控制装置(15)与所述底座(11)之间设置有第二自动复位装置(153)，所述底座(11)上设置有限位块(16)，所述限位块(16)上设置有供所述拉杆(14)穿过的安装空间，
    所述拉杆(14)从所述安装空间穿过，所述拉杆(14)适于相对所述限位块(16)在靠近所述第一夹头(12)、所述第二夹头的方向与远离所述第一夹头(12)、所述第二夹头的方向之间滑动。
  8. 根据权利要求7所述的手术机器人机械臂的定位装置，其中，
    所述拉杆控制装置(15)的一端为操控端，所述底座(11)的左侧形成有左侧壁(112)，所述底座(11)的右侧形成右侧壁(113)，所述左侧壁(112)上开设有安装孔，所述操控端穿过所述安装孔伸出所述底座(11)外，所述拉杆控制装置(15)的另一端为安装端，所述安装端设置于所述右侧壁(113)上，所述右侧壁(113)上设置导向槽(115)，所述导向槽(115)适于容纳所述拉杆控制装置(15)的安装端，所述第二自动复位装置(153)设置于所述导向槽(115)内。
  9. 一种手术机器人机械臂的定位方法，采用如权利要求1-8任一所述的手术机器人机械臂的定位装置，其中，包括：
    摆动机械臂(02)，使连接在所述机械臂(02)的戳卡夹持器(01)上的辅助定位单元(03)的底部中心与所述手术戳卡标识线的表面中心重合；
    拆除所述辅助定位单元(03)，将位于所述手术戳卡标识线以下的手术戳卡(04)与所述戳卡夹持器(01)相连接。
  10. 根据权利要求9所述的手术机器人机械臂的定位方法，其中，
    所述摆动所述机械臂(02)，使连接在所述机械臂(02)的所述戳卡夹持器(01)上的所述辅助定位单元(03)的底部中心与所述手术戳卡标识线的表面中心重合，包括：
    将所述辅助定位单元(03)安装在所述机械臂(02)的所述戳卡夹持器(01)上；
    使所述辅助定位单元(03)的底部中心与所述手术戳卡标识线的表面中心重合。
  11. 根据权利要求10所述的手术机器人机械臂的定位方法，其中，
    所述辅助定位单元(03)朝向所述手术戳卡标识线一端为光滑球面形状；所述使所述辅助定位单元(03)的底部中心与所述手术戳卡标识线的表面中心重合，包括：
    使所述光滑球面的顶点与所述手术戳卡标识线的表面中心重合。
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