WO2022262791A1 - Ensemble de bras robotique et de dispositif d'introduction et système robotique chirurgical et procédé de commande - Google Patents

Ensemble de bras robotique et de dispositif d'introduction et système robotique chirurgical et procédé de commande Download PDF

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Publication number
WO2022262791A1
WO2022262791A1 PCT/CN2022/099066 CN2022099066W WO2022262791A1 WO 2022262791 A1 WO2022262791 A1 WO 2022262791A1 CN 2022099066 W CN2022099066 W CN 2022099066W WO 2022262791 A1 WO2022262791 A1 WO 2022262791A1
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WIPO (PCT)
Prior art keywords
surgical robot
joint
joint part
protrusion
robot according
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PCT/CN2022/099066
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English (en)
Chinese (zh)
Inventor
陈功
蒋友坤
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上海微创医疗机器人（集团）股份有限公司
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Publication of WO2022262791A1 publication Critical patent/WO2022262791A1/fr

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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
    • A61B34/37—Master-slave robots

Definitions

  • the present application relates to the technical field of medical devices, in particular to a mechanical arm and a passer assembly, a surgical robot system and a control method.
  • the threader is generally mounted on the robotic arm through a mechanical structure, and there is a risk of loosening. Once the threader is loose, the movement of the robotic arm will drive the threader to move on the patient's body surface, causing trauma to the patient in the lightest cases, and even causing out-of-control movement of surgical instruments in severe cases.
  • a surgical robot including:
  • a mechanical arm the distal end of the mechanical arm is provided with a first joint part, and the first joint part is used to connect with the second joint part on the passer;
  • a monitoring device at least partially disposed at the first junction or the second junction and configured to acquire a signal of interest
  • a control module communicatively connected with the monitoring device, configured to determine whether the second joint is effectively connected to the first joint according to the target signal.
  • the target signal includes an electrical signal, or the target signal includes distance information or pressure information between the second joint part and the first joint part after they are connected.
  • control module judges whether the second joint is effectively connected to the first joint according to the continuity and/or stability of the target signal.
  • the first engaging portion includes a base and an engaging mechanism
  • the base is provided with an engaging groove
  • the engaging mechanism is at least partially disposed in the engaging groove
  • the detection portion is disposed on the engaging groove.
  • the second engaging part includes a protrusion for inserting into the engaging groove and matingly connected with the engaging mechanism.
  • the engaging mechanism includes an operating part and an assembling part, and the engaging mechanism is configured to drive the assembling part to separate from the protrusion when the operating part is acted on by an external force; When cancelled, the fitting portion fits the protrusion in the engagement groove.
  • the fitting part includes a buckle and a first elastic member, and the buckle is used to engage with the protrusion;
  • the engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the buckle to move, and separates the buckle from the protrusion, and at the same time, the elastic member stores elastic potential energy ; when the external force is canceled, the elastic member releases the elastic potential energy and drives the buckle to move to connect with the protrusion.
  • the engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the magnetic body to move away from the protrusion, so that the magnetic force received by the protrusion decreases, and at the same time
  • the second elastic member stores elastic potential energy; when the external force is canceled, the second elastic member releases the elastic potential energy and drives the magnetic body to move in a direction close to the bump, so that the bump The magnetic force experienced by the block increases.
  • the operation part includes an operation area and a wedge-shaped force transmission surface; the operation area is used to receive external force, and the wedge-shaped force transmission surface is in contact with the assembly part and used to transmit the external force to the assembly part to The fitting portion is urged to separate from the bump.
  • the assembly part is arranged in the main groove; the operating part is partially arranged in the operation channel and can move along the operation channel; the wedge-shaped force transmission surface extends into the main groove and is in contact with The fittings are in contact.
  • the joint mechanism further includes a partition, which is arranged in the main tank body and divides the main tank body into a first slot section and a second slot section; the first slot section is used for accommodating the The protrusion; the fitting part is accommodated in the second slot section; the operation channel communicates with the second slot section.
  • the first engaging portion includes a hoop body and a fastener, and the fastener is disposed on the hoop body and is used to form the first engaging portion into a closed loop; when the When the second joint part is inserted into the closed ring, and the second joint part is effectively connected with the first joint part, the hoop body presses the second joint part in the radial direction;
  • the detection part is arranged on the hoop body.
  • the present application also provides a surgical robot system, including a passer and the aforementioned surgical robot; the passer is provided with a second joint for connecting with the mechanical arm .
  • the present application also provides a mechanical arm assembly, including
  • Step S110 Obtain a target signal representing the connection status of the robotic arm and the threader
  • Step S120 judging whether the threader is effectively connected to the mechanical arm through the target signal, if yes, then execute step S130, if not, then do not allow the mechanical arm to move after an alarm;
  • the surgical robot of the present application includes a mechanical arm, a monitoring device and a control module, wherein the distal end of the mechanical arm is provided with a first joint, and the first joint is used to connect with the second joint on the passer
  • the monitoring device includes a detection part, the detection part is arranged at the first joint part, and is used to obtain the target signal; the control module is connected to the monitoring device in communication, and is used to judge the target signal according to the target signal. Whether the second joint part is effectively connected to the first joint part.
  • the surgical robot when used to perform a surgical operation, it can monitor the connection state of the second joint part and the first joint part in real time, so that the connection state between the second joint part and the first joint part can be monitored in real time.
  • the connection is effective, the operator is further prompted or the surgical operation is directly suspended to improve surgical safety.
  • Fig. 1 is a schematic diagram of an application scenario of a surgical robot system provided by the present application according to an embodiment
  • Fig. 2 is a schematic diagram of a doctor's console of a surgical robot system provided by the present application according to an embodiment
  • Fig. 3 is a schematic diagram of a surgical robot in a surgical robot system according to an embodiment of the present application when performing surgery;
  • Fig. 4 is a schematic diagram of an image display device of a surgical robot system according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a partial structure of a surgical robot provided by the present application according to an embodiment
  • Fig. 6 is an enlarged schematic view of A of the surgical robot system shown in Fig. 5;
  • Fig. 7 is a schematic diagram of the overall structure of the first joint on the robotic arm of the surgical robot system according to an embodiment of the present application
  • Fig. 8 is a schematic structural view of a passer of a surgical robot system according to an embodiment of the present application.
  • Fig. 9 is a flow chart of the operation performed by the surgical robot system provided by the present application according to an embodiment
  • Fig. 10 is a cross-sectional view of the robotic arm of the surgical robot system provided by the present application according to an embodiment when it is connected to the passer, the figure shows that the switch of the monitoring device is set in the joint groove;
  • Fig. 11 is a schematic diagram of the overall structure of the first joint at the distal end of the robotic arm of the surgical robot system according to another embodiment of the present application;
  • Fig. 12 is a schematic structural view of a passer of a surgical robot system according to another embodiment of the present application.
  • Fig. 13 is a partial structural schematic diagram of the threader shown in Fig. 12;
  • Fig. 14 is a schematic diagram of the connection relationship between the robotic arm and the passer of the surgical robot system according to another embodiment of the present application, in which the switch of the monitoring device is set in the joint groove;
  • Fig. 15 is a B-B sectional view of the first joint portion of the mechanical arm shown in Fig. 14;
  • Fig. 16 is a cross-sectional view of the robotic arm of the surgical robot system according to another embodiment of the present application when it is connected to the passer, and the monitoring device is not shown in the figure;
  • Fig. 17 is a schematic structural view of a passer of a surgical robot system according to another embodiment of the present application.
  • Fig. 18 is a schematic diagram of the connection between the robotic arm assembly and the passer according to still another embodiment of the present application, and the monitoring device is not shown in the figure.
  • Embodiments of the present application are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification.
  • the present application can also be implemented or applied through other different specific implementation modes.
  • Various details in this specification can also be modified or changed based on different viewpoints and applications, and without departing from the spirit of this application.
  • the diagrams provided in this embodiment are only schematically illustrating the basic idea of the application, and only the components related to the application are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the layout type of the components may also be more complicated.
  • each embodiment of the content described below has one or more technical features.
  • this does not mean that the applicant must implement all the technical features in any embodiment at the same time, or only implement part or all of the technical features in different embodiments separately.
  • those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the application and depending on design specifications or implementation requirements, Or selectively implement a combination of some or all of the technical features of multiple embodiments, so as to increase the flexibility of implementing the present application.
  • the singular forms “a”, “an” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless the content clearly states otherwise.
  • the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise.
  • the terms “installation”, “connection” and “connection” should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct Connected, can also be indirectly connected through an intermediary, can be the internal communication of two elements or the interaction relationship between two elements.
  • FIG. 1 shows a schematic diagram of an application scenario of a surgical robot system according to an embodiment of the present application
  • Fig. 2 shows a schematic diagram of a doctor's console of the surgical robot system
  • Fig. 3 shows a schematic diagram of the surgical robot system A schematic diagram of a surgical robot when performing surgery
  • FIG. 4 shows a schematic diagram of an image display device of the surgical robot system.
  • the surgical robot system includes a control end and an execution end.
  • the control terminal includes a doctor console 10 .
  • the execution end includes a surgical robot 20 and an image display device 30 .
  • the doctor console 10 includes a main operator 11 .
  • the surgical robot 20 includes a plurality of mechanical arms 100, at least one of which is used to mount an image acquisition device, and at least one of which is used to mount a surgical instrument 1 (as shown in FIG. 5 ).
  • the image acquisition device is used for inserting into the patient's body and providing surgical field information.
  • the surgical instrument 1 is intended to be inserted into the body of a patient and to perform surgical operations mainly within the surgical field of view.
  • the image display device 30 is communicatively connected with the image acquisition device to receive and display the surgical field of view information.
  • a master-slave control relationship is formed between the master operator and the robotic arm 100 . That is, during the operation, the operator uses both hands to control the main operator 11 to control the movement of the mechanical arm 100 according to the surgical field of view information acquired by the image acquisition device at the doctor's console 10, and then controls the movement of the mechanical arm 100.
  • the above-mentioned surgical instrument 1 executes relevant movement instructions of the master operator to complete various operations.
  • doctor's console 10 is also provided with a pedal control part 12, and the operator can complete the input of related operations such as electric cutting and electrocoagulation by pedaling.
  • the present application does not limit the configuration of the robotic arm 100 , which may be a mechanical fixed-point robotic arm or an active fixed-point robotic arm.
  • the surgical robot system further includes a passer 200 , which is connected to the distal end of the robotic arm 100 , penetrates the patient's body surface, and provides an access channel.
  • the surgical instrument 1 or the image acquisition device enters the patient's body through the access channel provided by the introducer 200 .
  • the connection state of the introducer 200 and the mechanical arm 100 has a very important influence on the smooth progress of the operation. Specifically, when the introducer 200 is effectively connected with the robotic arm 100 , the operator can perform surgical operations. However, when the introducer 200 is not effectively connected with the mechanical arm 100 , the operator may cause injury to the patient if the operator still performs the operation.
  • the "effective connection” mentioned here means that the introducer 200 is stably connected with the robotic arm 100, and there is no looseness or shaking between the two.
  • the threader 200 is not effectively connected to the robotic arm 100, which means that the threader 200 is not connected to the robotic arm 100, or although the threader 200 is connected to the on the mechanical arm 100, but there is looseness and shaking between the two.
  • the purpose of the embodiments of the present application is to provide a surgical robot system that can automatically monitor whether the introducer 200 is effectively connected to the mechanical arm 100 , so as to improve the safety of surgery.
  • the mechanical arm and the threader In order to ensure the effective connection between the mechanical arm and the threader, the mechanical arm and the threader not only achieve a stable mechanical assembly structure, but also realize electrical signal indication.
  • the electrical signal indication is used to indicate that the mechanical assembly between the robotic arm and the passer is in an effective connection state.
  • the surgical robot system also includes a monitoring device 300 (marked in Figure 10 and Figure 14 ) and a control module (the control module can be located at the doctor's console 10, or at the surgical robot 20, or at the above image display device 30).
  • the monitoring device 300 is used to obtain a target signal, and the target signal is used to judge whether the second joint part 210 is effectively connected to the first joint part 110 (that is, to judge whether the threader 200 is connected to the first joint part 110 or not). Whether the mechanical arm 100 is effectively connected).
  • the control module is communicatively connected with the monitoring device 300 for receiving the target signal and judging whether the second joint part 210 and the first joint part 110 are effectively connected.
  • the detection part is used to convert the mechanical operation mode of the first joint part 110 and the second joint part 210 after assembly, and/or the mechanical assembly state of effective connection, etc., into optical/electrical, etc. Signals captured by electronic equipment.
  • the detection part is disposed on the first joint part 110 or the second joint part 210 , and it includes, for example, a switch or a sensor.
  • the detection part is disposed on the first joint part 110 or the second joint part 210 , and protrudes from the surface on which the first joint part 110 and the second joint part 210 abut when they are effectively connected.
  • the detection part is arranged on the first joint part 110 or the second joint part 210, and is used for connecting the first joint part 110 and the second joint part 210 when the detection part
  • the gap to the detected object is converted into an optical/electrical signal.
  • the optical/electrical signal may be an analog signal or a digital signal.
  • the control module is used for judging whether the first joint part 110 and the second joint part 210 are effectively connected according to the continuity and/or stability of the optical/electrical signal.
  • the detection unit may be a switch
  • the monitoring device 300 further includes a monitoring circuit connected to the switch.
  • the monitoring circuit together with the switch forms a closed loop and generates an electrical signal as the target signal.
  • the switch is continuously triggered, so that the monitoring device 300 generates a continuous and stable electrical signal.
  • the switch cannot be triggered, so that the circuit structure cannot generate electrical signals, or the switch is triggered intermittently resulting in the The circuit structure described above produces intermittent electrical signals.
  • the control module can determine that the second joint part 210 is effectively connected to the first joint part 110 . And when the monitoring device 300 does not generate an electrical signal, or generates an electrical signal intermittently (that is, generates a discontinuous electrical signal), the control module can determine that the second joint 210 and the first joint are 110 Not validly connected.
  • the switch can be a contact switch device, or a non-contact switch device such as a proximity switch (ie, a proximity sensor).
  • the detection part includes a pressure sensor
  • the target signal output by the monitoring device 300 is the pressure information between the second joint part 210 and the first joint part 110 .
  • the pressure between the second joint part 210 and the first joint part 110 can be stably maintained within a predetermined range.
  • the pressure information also fluctuates with the shaking between the two (that is, the pressure information not stably within the predetermined range).
  • the control module may determine that the two are effectively connected. And when the pressure information is not continuously and stably maintained within the predetermined range, the control module may determine that there is no effective connection between the two.
  • the detection part includes a distance sensor
  • the target signal output by the monitoring device 300 represents distance information between the second joint part 210 and the first joint part 110 .
  • the monitoring principle of the distance sensor is the same as that of the pressure sensor, that is, when the second joint part 210 is effectively connected with the first joint part 110, the second joint part 210 and the first joint part 110 will The distance between a joint portion 110 can be continuously and stably maintained within a predetermined range. When there is shaking between the second joint part 210 and the first joint part 110 and the two are not effectively connected, the distance information also fluctuates with the shaking between the two.
  • Specific types of the distance sensor may be an infrared sensor, a Hall sensor, and the like.
  • the monitoring device 300 further includes wires for transmitting the light/electrical signals detected by the detection part to the control module.
  • the monitoring circuit is coupled to the detection part, and is used to convert the optical/electrical signal detected by the detection part into a target signal that can be recognized by the control module.
  • the target signal is, for example, an analog signal or information within an amplitude range received by the control module.
  • control module can confirm that the connection between the first joint part 110 and the second joint part 210 is active connection.
  • the stability within the preset duration is characterized by the received target signal being continuous within the preset duration and the amplitude is stable within the preset amplitude range; or the received target signal is within the preset duration Characterized by maintaining within a predetermined range.
  • the monitoring circuit delays outputting the target signal by monitoring the stability of the optical/electrical signal provided by the detection unit within a preset time period.
  • the delayed duration is set according to the duration of the monitored optical/electrical signal.
  • the monitoring device 300 can also output the electrical signal immediately.
  • the monitoring device 300 is determined according to the assembly structure of the first joint part 110 and the second joint part 210 and the target signal output by the monitoring device 300 based on the assembled structural relationship of the two joint parts.
  • control module may also start to control the mechanical arm with a delay, and the delay time may also be set based on the duration of the target signal.
  • control module may be located at the doctor console 10 , or at the surgical robot 20 , or at the image display device 30 .
  • the control module when the control module determines that the second joint part 210 is not effectively connected with the first joint part 110, it may directly control the mechanical arm 100 to stop moving, so as to suspend the surgical operation.
  • the surgical robot system further includes a display module, which is communicatively connected with the control module and used to display whether the second joint part 210 is effectively connected to the first joint part 110 .
  • the display module may include a beeping alarm and/or an indicator light for sound and light alarms to prompt the operator.
  • the image display device may also be directly used as the display module.
  • Step S110 Obtain a target signal representing a connection state between the robotic arm and the passer.
  • Step S120 judging whether the threader is effectively connected to the robotic arm according to the target signal, if yes, execute step S130, if not, the display module gives an alarm, or does not allow the robotic arm to move.
  • Step S130 Start the master-slave control mode and control the movement of the robotic arm so that surgical instruments can perform surgical operations; the surgical instruments include but are not limited to clamps, scissors, graspers, stylus holders, cutting blades, staplers, for example Wait.
  • step S140 is also included: the monitoring device also monitors the connection status between the threader and the robotic arm in real time, and the control module judges the threading Whether there is an effective connection between the device and the robotic arm. If yes, the surgical operation is continued; if not, the display module gives an alarm, and/or the master-slave control mode is temporarily interrupted to suspend the surgical operation.
  • the monitoring device 300 monitors the connection status between the threader 200 and the robotic arm 100 in real time by means of, for example, monitoring progress. Once the two are not effectively connected, the control unit immediately generates an interrupt event to suspend the surgical operation; by prompting the operator to reconnect the mechanical arm 100 and the introducer 200 to ensure surgical safety.
  • the base 111 is provided with an engaging groove 112, which provides a limited space, so that the second engaging part 210 has no movable space in the direction of the piercing operation, even in the direction perpendicular to the direction of the piercing operation.
  • the engaging mechanism is at least partially disposed in the engaging groove 112 for fixing and releasing the second engaging portion 210 .
  • the engaging mechanism fixes and releases the second engaging portion 210 by adjusting at least one of position, posture, or deformation.
  • the joint mechanism includes an operation part (the first operation part 113 or the second operation part 123 described later) and an assembly part.
  • the operating portion is used by an assembler to apply an external force to make the protrusion 211 move in and out of the engagement groove 112 .
  • the operating part drives the fitting part to separate from the protrusion 211, and when the external force is canceled, the fitting part makes the protrusion 211 fit on the In the engagement groove 112 .
  • the fitting part includes a first elastic part 115, and the operation part directly acts on the first elastic part 115 to adjust the space in the joint groove and make the protrusion 211 enter and exit the joint. Groove 112.
  • the operating part is the first operating part 113
  • the assembling part further includes a buckle 114
  • the buckle 114 is used to engage with the protrusion 211 .
  • the engaging mechanism is configured such that when the first operating portion 113 is subjected to an external force, the first operating portion 113 drives the buckle 114 to move, and separates the buckle 114 from the protrusion 211 , and at the same time, the first elastic member 115 deforms and stores elastic potential energy. When the external force is canceled, the first elastic member 115 releases the elastic potential energy, and drives the buckle 114 to move to connect with the protrusion 211 .
  • the operator when installing the threader 200 on the mechanical arm 100, the operator only needs to apply an external force to the first operating part 113, and insert the protrusion 211 into the engaging groove 112, and then The connection between the two can be realized by canceling the external force.
  • the operator applies an external force to the first operation part 113 and pulls the protrusion 211 out of the engagement groove 112 .
  • the detection part can be set at any suitable position in the joint groove 112, and can also be set at other positions at the first joint part 110, as long as it can meet the requirements of the second joint part 210 and the It only needs to be continuously triggered when the first joint part 110 is effectively connected, but cannot be continuously triggered when the second joint part 210 and the first joint part 110 are not effectively connected.
  • the operation part includes an operation area and a wedge-shaped force transmission surface.
  • the operating area accepts the force exerted by the assembler, and the wedge-shaped force transmission surface changes the direction of the external force according to the energy storage direction of the first elastic member 115 in the assembly portion, thereby utilizing the deformation of the elastic member to adjust the excess space in the joint groove.
  • the present application also provides another embodiment, the difference between this embodiment and the previous embodiment is that the operation part is the second operation part 123, and the assembly part includes a second The elastic member 121 and the magnetic body 122 ; and, the protrusion 211 also has ferromagnetism, so that the protrusion 211 can be attracted by the magnetic body 122 .
  • the engaging mechanism is configured such that when the second operating portion 123 is subjected to an external force, the second operating portion 123 drives the magnetic body 122 to move away from the protrusion 211 , so as to The magnetic force received by the protrusion 211 is reduced, and at the same time, the second elastic member 121 deforms and stores elastic potential energy.
  • the second elastic member 121 releases the elastic potential energy, and drives the magnetic body 122 to move toward the protruding block 211 , so that the magnetic force on the protruding block 211 increases.
  • the magnetic body 122 By rationally designing the magnetic body 122 so that when the distance between it and the bump 211 is the smallest, the bump 211 remains fixed under the action of the magnetic force so that the second joint portion 210 and the The first engaging portion 110 remains in an effectively connected state.
  • the joint mechanism further includes a partition 124 .
  • the engaging groove 112 includes a main groove body and an operating channel communicating with each other, and the partition plate 124 is arranged in the main groove body and divides the main groove body (in the axial direction) into a first groove section 112a and a second groove section 112a.
  • the slot section 112b, the operation channel communicates with the second slot section 112b.
  • the protrusion 211 is used for inserting into the first slot segment 112 a and for pressing against the partition plate 124 .
  • the magnetic body 122 is movably disposed in the second groove segment 112b, the second elastic member 121 is disposed on the side of the magnetic body 122 away from the partition 124, and the second elastic member The (axial) opposite ends of 121 abut against the magnetic body 122 and the bottom wall of the second slot section 112b respectively.
  • the second operation part 123 is partially disposed in the operation channel, and can move along the operation channel.
  • the second operation part 123 includes an operation area 123a and a wedge-shaped force transmission surface 123b, the operation area 123a is used to receive external force, the wedge-shaped force transmission surface 123b extends along the operation channel and partially extends into the second In the slot section 112b, the wedge-shaped force transmission surface 123 is in contact with the magnetic body 122, and transmits the external force to the magnetic body 122, so as to drive the magnetic body 122 to move away from the protrusion 211. .
  • FIG. 17 and FIG. 18 are schematic diagrams showing the connection relationship between the robotic arm 100 and the passer 200 of the surgical robot system provided by still another embodiment of the present application.
  • the first joint part 110 includes a hoop body 131 and a fastener 132, and the fastener 132 is used to be arranged on the hoop body 131 and for forming the first engaging portion 110 into a closed loop.
  • the second joint part 210 of the passer 200 is, for example, a cylindrical structure, and the outer diameter of the cylindrical structure is slightly larger than the inner diameter of the closed ring.
  • the hoop body 131 is a split ring structure
  • the fastener 132 is, for example, a clamping structure, which includes a first clamping part and a second clamping part, and the first clamping part and the clamping part are The second clamping portions are respectively disposed on opposite ends of the opening 131 a of the hoop body 131 . Insert the first joint part 210 (that is, the cylindrical structure) of the introducer 200 into the inner side of the hoop body 131, and then connect the first clamping part and the second clamping part.
  • the hoop body 131 is deformed, so that the first joint part 110 forms the closed loop, and the hoop body 131 exerts a radial extrusion force on the first joint part 210, so as to hold the first joint part 210 tightly.
  • the first joint part 210 is described above.
  • the embodiment of the present application also provides a surgical robot, which includes a robotic arm, a monitoring device, and a control module.
  • a surgical robot which includes a robotic arm, a monitoring device, and a control module.
  • the distal end of the mechanical arm is provided with a first joint part, and the first joint part is used to connect with the second joint part on the passer.
  • the detection part of the monitoring device is arranged at the first joint part and is used for acquiring a target signal.
  • the control module communicates with the monitoring device, receives the target signal, and judges whether the second joint is effectively connected to the first joint according to the target signal.
  • the embodiment of the present application also provides a mechanical arm assembly, including a mechanical arm and a monitoring device.
  • the first joint part is provided on the mechanical arm, and the first joint part is used to connect with the second joint part on the passer.
  • the detection part of the monitoring device is arranged at the first joint part, and is used for acquiring a target signal, and the target signal is used for judging whether the second joint part is effectively connected to the first joint part.
  • the operation safety can be effectively improved.
  • the control module can provide electrical on-off control, thereby reducing the risk of surgery caused by unstable assembly of the threader.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un ensemble de bras robotique et de dispositif d'introduction et un système robotique chirurgical et un procédé de commande. Le système robotique chirurgical comprend : un bras robotique, une extrémité distale du bras robotique étant pourvue d'une première partie de jonction ; un dispositif d'introduction, le dispositif d'introduction étant pourvu d'une deuxième partie de jonction et la deuxième partie de jonction étant utilisée pour être reliée à la première partie de jonction ; un appareil de surveillance comprenant une partie de détection, la partie de détection étant disposée au niveau de la première partie de jonction et/ou de la deuxième partie de jonction et étant utilisée pour acquérir un signal cible ; le signal cible étant utilisé pour déterminer si la deuxième partie de jonction est efficacement reliée à la première partie de jonction ; et un module de commande connecté en communication au dispositif de surveillance et conçu pour déterminer, en fonction du signal cible, si la deuxième partie de jonction est efficacement reliée à la première partie de jonction. De cette manière, le système robotique chirurgical peut empêcher un chirurgien de réaliser une intervention chirurgicale lorsque le bras mécanique et le dispositif d'introduction ne sont pas connectés efficacement, ce qui permet d'améliorer la sécurité de l'intervention.
PCT/CN2022/099066 2021-06-16 2022-06-16 Ensemble de bras robotique et de dispositif d'introduction et système robotique chirurgical et procédé de commande WO2022262791A1 (fr)

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