WO2023143045A1

WO2023143045A1 - Surgical power device, modular surgical device and surgical robot

Info

Publication number: WO2023143045A1
Application number: PCT/CN2023/071546
Authority: WO
Inventors: 王迎智; 徐高峰; 袁平
Original assignee: 极限人工智能有限公司
Priority date: 2022-01-25
Filing date: 2023-01-10
Publication date: 2023-08-03
Also published as: CN114098989A; CN114098989B

Abstract

A surgical power device, a modular surgical device comprising the surgical power device, and a surgical robot comprising the modular surgical device. The surgical power device comprises a main power unit (27) for outputting power and a handle mechanism for controlling the main power unit (27), wherein five driving rods extend out of the main power unit (27), namely four driving rods A (341) matching with each other and a driving rod B (342) capable of retracting and rotating; and the driving rods A (341) are controlled to move by means of a control handle (265) in the handle mechanism (26), such that power for driving an end executing member (286) on a connected instrument (28) to deflect is output, and the driving rod B (342) is controlled to retract and/or rotate by means of a finger fastener assembly (263), such that power for rotating and/or opening and closing power capable of driving the end executing member (286) on the connected instrument (28) to deflect is output. Different instruments (28) are swapped onto a surgical power device, such that different effects are achieved in cooperation with different instruments (28), the whole surgical device does not need to be replaced, and the applicability of the whole device is effectively improved.

Description

Surgical power unit, split surgical device and surgical robot

Cross References to Related Applications

This application claims the priority of the Chinese patent application with the application number 202210084890.3 and the application title "surgical power device, split surgical device and surgical robot" submitted to the China Patent Office on January 25, 2022, the entire contents of which are incorporated by reference in this application.

technical field

The embodiments of the present application relate to the technical field of medical devices, and in particular, to a surgical power device, a split surgical device, and a surgical robot.

Background technique

Surgical robot is a complex integrating a number of modern high-tech means, which is widely recognized in surgery. Through surgical robot, surgeons can operate the machine to perform surgery, which greatly improves the safety and convenience of surgery.

In the related art, a single surgical device often has only one function or a limited number of functions, and the entire surgical device often needs to be replaced when other surgical operations are performed, resulting in high cost and low applicability of the surgical device.

Contents of the invention

Embodiments of the present application provide a surgical power device, a split surgical device, and a surgical robot, aiming to solve the problem of low applicability of the surgical device.

An embodiment of the present application provides a surgical power device, which is characterized in that it includes:

Power host and handle mechanism;

The power host includes a housing and an instrument driving module, and the instrument driving module is arranged in the housing;

The instrument driving module includes a mounting part, a driving mechanism, four driving rods A and a driving rod B, and the four driving rods A are slidably arranged on the mounting part along their own axis directions, and the driving rod B Slidingly arranged on the installation part along the direction of its own axis, while being rotatably arranged on the installation part along the direction of its own axis;

One end of the power main engine is provided with a joint seat for connecting the device, and the four driving rods A and one driving rod B protrude from the joint seat so as to drive in one-to-one correspondence with multiple steel wires in the device. For connection, the projections of the four driving rods A on the plane of the joint seat away from the power main engine are distributed in a rectangle, and the projections of the driving rods B on the plane are located at the center of the rectangle;

The drive mechanism includes a drive motor B, a drive motor C, and two drive motors A, the drive motor A is used to drive the two drive rods A located at opposite corners of the rectangle to retract synchronously and reversely; the drive motor B is used to drive The driving rod B slides; the driving motor C is used to drive the driving rod B to rotate;

The handle mechanism includes a control handle, the control handle is ball-connected to the end of the power host away from the joint seat through an adjustment ball assembly, and is used to control the two drive motors A to drive the drive rod A to move, thereby driving The end effector of the instrument deflects, and the control handle is provided with a finger buckle assembly, which is used to control the drive motor B to drive the drive rod B to expand and contract, and/or to control the drive The motor C drives the drive rod B to rotate.

Optionally, a deflection sensor A is arranged inside the adjustment ball assembly, and the deflection sensor A is used to collect deflection information of the control handle;

Wherein, the two driving motors A drive the four driving rods A to expand and contract according to the deflection information of the control handle, and take the four driving rods A and the joint seat toward the instrument in a static state. A point with the same distance from one side of the plane forms a motion plane, and during the telescopic process of the four driving rods A, the motion plane deflects synchronously with the control handle according to the deflection information.

Optionally, the finger buckle assembly is rotatably arranged on the control handle, the finger buckle assembly includes a clip installation block rotatably connected to the control handle, and a rotation sensor is provided in the clip installation block. part, the rotation sensing part is used to obtain the rotation information of the finger buckle assembly;

Wherein, the driving motor C drives the driving rod B to rotate following the finger snap assembly according to the rotation information of the finger snap assembly.

Optionally, a control clip is rotatably provided on the clip installation block, and the rotation axis of the control clip is perpendicular to the rotation axis of the clip installation block;

Wherein, the clip installation block is provided with a deflection sensor B for obtaining the deflection information of the control clip, and the driving motor B is used for driving the driving rod B according to the deflection information of the control clip telescopic.

Optionally, a finger-following ring for fingers to pass through is provided on the control clip, and the finger-following ring is used to drive the control clip to rotate following the fingers.

Optionally, the control clip is provided with two pieces, the rotation axes of the two control clips are parallel to each other, and symmetrical with respect to the vertical plane of the clip installation block.

Optionally, the installation part includes a supporting column, a rear fixing plate and a front fixing plate arranged in parallel and at intervals, and the supporting column is connected between the rear fixing plate and the front fixing plate; wherein, the driving The motor B, the driving motor C and the two driving motors A are arranged between the rear fixing plate and the front fixing plate;

Wherein, the front fixing plate is arranged in parallel on the side of the power main engine close to the joint seat, the driving rod A and the driving rod B are vertically slidably arranged on the front fixing plate, and the inside of the power main engine is located An instrument identification plate is arranged in parallel between the front fixing plate and the connector seat, and an induction chip for identifying the type of the instrument is arranged on the instrument identification plate.

Optionally, the drive motor A, the drive motor B, and the drive motor C are all arranged on the rear fixing plate, and the output shafts of the drive motor A, the drive motor B, and the drive motor C face The same and the axes are parallel to each other, the output shafts of the drive motor A, the drive motor B, and the drive motor C are all fixedly provided with detection magnets;

It also includes an origin detection plate parallel to the rear fixed plate, the origin detection plate is arranged on the side of the rear fixed plate close to the output shaft of the drive motor A, the drive motor B, and the drive motor C, The origin detection plate is provided with a rotation induction part B, which is used to obtain the rotation information of each detection magnet on the drive motor A, the drive motor B, and the drive motor C, so as to determine the The rotation effect of the driving motor B and the driving motor C.

Optionally, the cross-section of the sliding section of the drive rod A passing through the joint seat is non-circular, and the shape of the perforation on the joint seat for the drive rod A to pass through is similar to the cross-section of the drive rod A. adaptation.

Optionally, a motor control circuit is provided in the power host, and the motor control circuit includes:

The first control module is configured to acquire deflection information of the control handle in the split surgical device, and control the driving motor A in the split surgical device to drive the universal snake assembly according to the deflection information of the control handle deflection;

The second control module is used to obtain the rotation information of the finger buckle assembly, and control the drive motor C to drive the end effector to rotate according to the rotation information;

The third control module is configured to obtain deflection information of the control clip, and control the drive motor B to drive the end effector to open and close according to the deflection information.

An embodiment of the present application provides a split-type surgical device, which is characterized in that it includes the above-mentioned surgical power device, and further includes:

an instrument, the instrument is detachably arranged on the surgical power unit;

The surgical power unit includes a power host and a handle mechanism, the power host includes an instrument drive module for providing power to the instrument and a joint seat for installing the instrument, and the handle mechanism adjusts the ball assembly ball connected to the side of the power host away from the joint seat;

The instrument includes an interface seat, an abdominal assembly, a universal snake assembly and an end effector connected in sequence, and the interface seat is used for detachable connection with the joint seat;

The handle mechanism includes a control handle, and the control handle controls the instrument driving module through the adjusting ball assembly, so that the universal snake assembly is controlled to deflect synchronously with the control handle through the instrument driving module, The control handle is provided with a finger buckle assembly for controlling the rotation or opening and closing of the end effector following the finger buckle assembly.

Optionally, the apparatus also includes:

Five connecting rods for connecting with the four driving rods A and for connecting with the driving rod B, each of the connecting rods is slidably arranged in the interface seat and is aligned with the plane of the interface seat Vertically, the four driving rods A are respectively connected to four of the connecting rods, and the driving rod B is connected to the other connecting rod;

The projections of the four connecting rods connected to the four driving rods A on the plane of the interface seat away from the abdominal component are distributed in a rectangular shape, and the connecting rods are respectively passed through a traction steel wire or a traction shaft connected with the universal snake bone assembly;

Both ends of the drive rod A and the drive rod B are fixed with a first connecting portion, and the ends of the connecting rod are provided with a second connecting portion connected to the first connecting portion, for connecting The driving rod A and the driving rod B are connected to the connecting rod.

Optionally, the first connecting part includes a connecting block, and the connecting block is fixedly connected with the driving rod A and the driving rod B, and the connecting part of the connecting block forms a circle of clamping grooves, and the second The connecting part includes a receiving slot adapted to the connecting block and a block for snapping into the slot, so that after the connecting block enters the receiving slot, the driving rod A or the driving rod B is correspondingly connecting rod connection.

Optionally, the rectangular parallelepiped of the connecting block prevents relative rotation between the connecting block and the driving rod A or driving rod B after entering the receiving groove.

Optionally, a fixing block is provided on the side wall of the interface base, a fixing slot adapted to the fixing block is opened on the side wall of the joint base, and a fixing slot for the fixing block is opened on the side wall of the fixing slot. The installation groove into which the fixing block enters, so that the fixing block enters the fixing groove through the installation groove, thereby connecting the interface seat with the joint seat, and the orientation of the installation groove is the same as that of the accommodation groove facing the same.

Optionally, the interface seat is provided with a first stopper for restricting the interface seat from the joint seat, and a second stopper for restricting the interface seat from misalignment and sliding relative to the joint seat .

Optionally, the instrument further includes: an instrument identification plate, different induction blocks are arranged on the instrument identification plate of different instruments, for the induction chip on the instrument identification plate in the surgical power unit to perform identify.

An embodiment of the present application provides a surgical robot, including the above-mentioned split surgical device, and also includes:

A support system and a floating rod assembly, the upper end of the floating rod assembly is connected to the support system, and the split surgical device is detachably arranged at the lower end of the floating rod assembly.

A surgical power device, a split surgical device and a surgical robot provided by the present application are adopted. The surgical power device includes a power host for outputting power and a handle mechanism for controlling the power host, wherein the power host extends five driving rods, respectively It consists of four cooperating driving rods A and a telescopic and rotating driving rod B, which are used to output power when connecting the equipment. The power host is also equipped with a driving mechanism for driving the driving rod A and the driving rod B to move. Control the movement of the drive rod A through the control handle in the handle mechanism, so as to output the power that can drive the end effector on the connected instrument to deflect, and control the extension and/or rotation of the drive rod B through the finger buckle assembly, so that the output can drive the connected instrument The deflection power of the end effector on the end effector rotates and/or the power of opening and closing, so as to output a variety of different powers when replacing different instruments. By replacing different instruments on one surgical power device, different effects can be achieved with different instruments. There is no need to replace the entire surgical device, which effectively improves the applicability of the entire device.

The above description is only an overview of the technical solution of the present application. In order to better understand the technical means of the present application, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and understandable , the following specifically cites the specific implementation manner of the present application.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application , for those skilled in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is a schematic diagram of a surgical power device proposed by an embodiment of the present application;

Fig. 2 is a schematic diagram of an instrument driving module proposed by an embodiment of the present application;

Fig. 3 is a schematic diagram of a control handle and finger clasp assembly proposed by an embodiment of the present application;

Fig. 4 is a schematic diagram of another direction of the control handle and finger buckle assembly proposed by an embodiment of the present application;

Fig. 5 is a schematic diagram of a transmission part A proposed by an embodiment of the present application;

Fig. 6 is a schematic diagram of a transmission part B proposed by an embodiment of the present application;

Fig. 7 is a schematic diagram of a transmission part B and a transmission part C proposed by an embodiment of the present application;

Fig. 8 is a schematic diagram of an instrument identification board proposed by an embodiment of the present application;

Fig. 9 is a schematic diagram of an origin detection board proposed by an embodiment of the present application;

Fig. 10 is a side view of a split surgical device proposed by an embodiment of the present application;

Fig. 11 is a schematic diagram of another angle of the split surgical device proposed by an embodiment of the present application;

Fig. 12 is a schematic diagram of a first connection part proposed by an embodiment of the present application;

Fig. 13 is a schematic diagram of a second connection part proposed by an embodiment of the present application;

Fig. 14 is an enlarged view of part A in Fig. 1 proposed by an embodiment of the present application;

Fig. 15 is a schematic diagram of a surgical robot proposed by an embodiment of the present application.

Reference signs: 200, support system; 23, floating rod assembly; 26, handle mechanism; 265, control handle; 263, finger clasp assembly; 2631, clip mounting block; 2632, control clip; 2633, finger follower ring ;266, adjusting ball assembly; 28, instrument; 281, interface seat; 282, abdominal assembly; 283, connecting rod; 2831, block; 2832, receiving groove; 289. Apparatus identification plate; 27. Power host; 30. Apparatus driving module; 31. Installation part; 311. Front fixing plate; 312. Rear fixing plate; 321. Driving motor A; 33. Transmission part A; 331. Drive steel wire A; 332, the first guide wheel; 333, the second guide wheel; 351, drive motor B; 352, drive wheel B; 36, transmission part B; 361, drive steel wire B; 362, the third guide wheel; 363 , the fourth guide wheel; 371, drive motor C; 372, drive gear C; 373, driven gear C; 374, transmission column; 375, transmission gear; 341, drive rod A; 342, drive rod B; 38, connector Seat; 381, fixing groove; 382, installation groove; 383, first limiter; 384, second limiter; 385, instrument identification plate; 3851, induction chip; 316, origin detection plate; 3412, connection block; 3413. Card slot.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

Embodiment one

In view of this, Embodiment 1 of the present application provides a surgical power device, referring to Fig. 1 and Fig. 2, including a power host 27 and a handle mechanism 26, the power host 27 includes a housing and an instrument drive module 30, and the instrument drive module 30 set in the casing.

The instrument driving module 30 includes a mounting part 31, a driving mechanism, four driving rods A341 and a driving rod B342. The four driving rods A341 are slidably arranged on the mounting part 31 along the direction of its own axis, so as to drive the instrument 28 when sliding. The four pull wires are retracted or released. The driving rod B342 is slidably arranged on the installation part 31 along its own axis direction, so as to drive the steel wire in the center of the instrument to expand and contract when sliding. The steel wire in the center turns.

One end of the power host 27 is provided with a joint seat 38 for connecting the apparatus 28, and four driving rods A341 and one driving rod B342 protrude from the joint seat 38 so as to be connected to the five steel wires in the apparatus 28 in one-to-one correspondence. The projection of the driving rod A341 on the plane of the joint seat 38 facing away from the main engine 27 is distributed in a rectangle, and the projection of the driving rod B342 on the plane is located at the center of the rectangle.

When connecting the instrument 28, in order to achieve the effect of driving the end effector 286 on the instrument 28 to deflect, it is necessary to apply or release the pulling force to the pulling wires arranged in four directions of the universal snake assembly 284, wherein For the two steel wires at the diagonal positions of the cross-section of the universal snake-bone component 284, one of them is subjected to a pulling force, and the pulling force of the other is released, so that the universal snake-bone component 284 can be driven to achieve universal deflection, Then it drives the end effector (such as scissors, tweezers, etc.) connected to the end of the universal snake assembly 284 to move to the position where surgical operation is required.

In other types of instruments 28, similar to those of the pliers head type, it is necessary to provide axial force in the front and rear directions to drive the pliers head to open and close. Realizing the output drives the forceps type instrument 28 to realize the effect of opening and closing.

In other types of instruments 28, the end effector 286 is required to achieve the effect of rotation, so the driving rod B342 is rotated while expanding and contracting, so as to drive the connected end effector 286 to achieve the effect of rotation, through a driving rod B342 at the same time The output of two kinds of driving force effectively reduces the parts quantity of the whole device and improves the applicability of the whole device at the same time.

The driving mechanism includes a driving motor B351, a driving motor C371 and two driving motors A321, and the driving motor A321 is used to drive the two driving rods A341 located at opposite corners of the rectangle to expand and contract in reverse synchronously. The driving motor B351 is used to drive the driving rod B342 to slide. The driving motor C371 is used to drive the driving rod B342 to rotate.

Referring to Fig. 2 and Fig. 5, the instrument drive module 30 also includes two sets of transmission parts A33, each group of transmission parts A33 includes a driving steel wire A331, two first guide wheels 332 and two second guide wheels 333, and the driving steel wire A331 is sequentially Wrap around the two first guide wheels 332 and the two second guide wheels 333 to form two opposite first steel wire segments located between the first guide wheels 332 and the second guide wheels 333 .

The power output of the driving motor A321 is output through the driving steel wire A331, and the two driving rods A341 are connected with the two first steel wire sections of the driving steel wire A331, so as to realize synchronous reverse movement of the two driving rods A341 driven by one driving steel wire A, Then drive the four driving rods A341 to move through the two groups of transmission parts A33. When connecting the device 28, the four driving rods A341 are connected to the four driving steel wires in the device 28. By controlling the two driving rods A341 of the same group to extend The longer one shrinks, so that two of the four traction steel wires of the universal snake assembly 284 contract, and the other two elongate, thereby driving the universal snake assembly 284 to deflect to the side of the contracted traction steel wires.

Referring to FIG. 1 , the handle mechanism 26 includes a control handle 265, which is ball-connected to the end of the power host 27 away from the joint seat 38 through the adjustment ball assembly 266, and is used to control the two drive motors A321 to drive the drive rod A341 to move, thereby driving the instrument 28 The end effector 286 is deflected, and the control handle 265 is provided with a finger clasp assembly 263. The finger clasp assembly 263 is used to control the drive motor B351 to drive the drive rod B342 to expand and contract, and/or to control the drive motor C371 to drive the drive rod B342 to rotate.

Wherein, when the control handle 265 is deflected, the two drive motors A321 are controlled, so that the two drive rods A341 corresponding to each drive motor A321 do different telescopic actions, so that one of the four traction wires of the connected instrument 28 One or two adjacent ones shrink, and the other one or two traction steel wires opposite to it elongate, so that the universal snake assembly bends to the side of the contracted traction steel wire, and realizes the effect of driving the deflection of the end effector 286, referring to The rotation or opening and closing of the buckle assembly 263 is to drive the driving rod B342 to expand and contract by controlling the driving motor B351, and/or to control the driving motor C371 to drive the driving rod B342 to rotate, and to output the driving force of rotation and/or opening and closing to the connected instrument 28 , so that the control process is more convenient and the practicability of the whole device is improved.

Adopt a kind of surgical power device provided by the present application, the surgical power device includes a power host 27 for outputting power and a handle mechanism 26 for controlling the power host 27, wherein, the power host 27 stretches out five driving rods, four driving rods respectively Rod A341 and a telescopic and rotatable drive rod B342 are used to output power when the device 28 is connected, and a drive mechanism for driving the drive rod A341 and the drive rod B342 is also arranged in the power host 27, through the handle mechanism 26 The control handle 265 of the control handle 265 controls the movement of the driving rod A341, thereby outputting the power capable of driving the end effector 286 on the connected instrument 28 to deflect, and controlling the telescopic/or rotation of the driving rod B342 through the finger clasp assembly 263, so that the output can drive the connected instrument 28 The deflection power of the end effector 286 on the upper end effector 286 rotates and/or opens and closes, so as to output a variety of different powers when replacing different instruments 28. By replacing different instruments 28 on one surgical power device, different instruments 28 can be matched. Different effects can be achieved without replacing the entire surgical device, which effectively improves the applicability of the entire device.

In some embodiments, a deflection sensor A is disposed inside the adjustment ball assembly 266 , and the deflection sensor A is used to collect deflection information of the control handle 265 .

Wherein, the two drive motors A321 drive the two drive motors A321 to drive the corresponding two drive rods A341 to expand and contract according to the deflection information of the control handle 265, and take the four drive rods A341 and the connector seat 38 toward the instrument 28 in a static state. A point with the same plane distance on one side forms a motion plane, and during the stretching process of the four driving rods A341, the motion plane deflects synchronously with the control handle 265 according to the deflection information.

For example, when the control handle 265 is deflected to one side, the deflection sensor A obtains the deflection information of the control handle 265, then controls the drive motor A321 to determine the deflection intention corresponding to the deflection information according to the internal program, and then determines the need for the instrument 28 to be turned on according to the internal program. When the end effector 286 deflects according to the deflection intention, the four driving rods A341 need to perform actions, and then control the two driving motors A321 to drive the four driving rods A341 to perform, so as to realize the control through the control handle 265 when connecting the end effector 286 its deflection effect.

In some embodiments, referring to FIG. 3 and FIG. 4 , the finger clasp assembly 263 is rotatably disposed on the control handle 265 , the finger clasp assembly 263 includes a clip mounting block 2631 rotatably connected to the control handle 265 , and the clip mounting block 2631 A rotation sensing part is arranged inside, and the rotation sensing part is used to acquire the rotation information of the finger clasp assembly 263 .

Wherein, the driving motor C371 drives the driving rod B342 to rotate following the finger buckle assembly 263 according to the rotation information of the finger buckle assembly 263 , and the output shaft of the driving motor C371 is sleeved with a driving gear C372 .

Referring to Fig. 2 and Fig. 7, a driven gear C373 is coaxially fixed on the driving rod B342, and a transmission column 374 is arranged on the rear fixed plate 312 for rotation, and the two ends of the transmission column 374 located on both sides of the rear fixed plate 312 are coaxially fixed respectively. A transmission gear 375 is provided, and the two transmission gears 375 mesh with the driving gear C372 and the driven gear C373 respectively. When the driving motor C371 rotates, the drive gear C372, the transmission gear 375 and the driven gear C373 are engaged to drive the drive. Lever B342 rotates.

When holding the control handle 265, the user's finger can just control the movement of the finger clasp assembly 263. When the finger rotates the clip mounting block 2631, the rotation information of the clip mounting block 2631 is obtained through the rotation sensor, and the rotation information of the clip mounting block 2631 is obtained according to the internal program. The information determines the rotation intention of the user, and then controls the rotation of the driving rod B342 through the drive motor C371, thereby controlling the rotation of the end effector 286 on the connected instrument 28 according to the user's control intention.

Specifically, a control clip 2632 is rotatably disposed on the clip installation block 2631 , and the rotation axis of the control clip 2632 is perpendicular to the rotation axis of the clip installation block 2631 .

Wherein, the clip installation block 2631 is provided with a deflection sensor B for obtaining the deflection information of the control clip 2632 , and the driving motor B351 is used for driving the driving rod B342 to expand and contract according to the deflection information of the control clip 2632 .

In some specific embodiments, when the end effector 286 is a pincer-shaped component, a traction rod is often required to control the clamping end on one side or the clamping ends on both sides to move closer to or away from each other when controlling the opening and closing of the jaws. , so as to realize opening and closing, so the opening and closing action of the end effector 286 is simulated by the rotating control clip 2632 to control the drive motor B351 to drive the drive rod B342 to expand and contract, so as to realize the control of the end effector 286 to open according to the action of the control clip 2632 combine.

Referring to Fig. 2, Fig. 6 and Fig. 7 specifically, the output shaft of the driving motor B351 is coaxially provided with a driving wheel B352, the instrument driving module 30 also includes a transmission part B36, and the transmission part B36 includes a driving steel wire B361, a third guide wheel 362 and two fourth guide wheels 363, the driving steel wire B361 encircles the driving wheel B352, one of the fourth guiding wheels 363, the third guiding wheel 362 and two other fourth guiding wheels 363 in turn, and the two driving steel wires B361 The end is fixedly connected with the side wall of the driving wheel B352 after passing through two fourth guide wheels 363, and the driving rod B is connected with the driving steel wire B, and the driving steel wire B361 is driven to reciprocate by the reciprocating rotation of the driving motor B351, thereby driving the driving rod B342 to expand and contract.

In some embodiments, the control clip 2632 is rotatably provided with a finger follower ring 2633 for the finger to pass through, and the finger follower ring 2633 is used to drive the control clip 2632 to follow the rotation of the finger.

When controlling the opening of the pincers, the finger is inserted into the finger follower ring 2633, thereby driving the control clip 2632 to open when the finger moves, thereby simulating the action of opening the pincers, and then controlling the opening of the pincers. It is more convenient and labor-saving when clamping the clip 2632.

In some embodiments, the control clip 2632 is provided with two pieces, the rotation axes of the two control clips 2632 are parallel to each other, and symmetrical with respect to the vertical plane of the clip installation block 2631 .

When in use, the movement of the two control clips 2632 is controlled by simultaneously pinching the two pieces with the index finger and the thumb, so that the control of the control clips 2632 is more adapted to the user's usage habits, and the operation is more labor-saving.

In some embodiments, the installation part 31 includes a support column and a rear fixing plate 312 and a front fixing plate 311 arranged in parallel and spaced apart, and the supporting column is connected between the rear fixing plate 312 and the front fixing plate 311 . Wherein, the driving motor B351 , the driving motor C371 and the two driving motors A321 are arranged between the rear fixing plate 312 and the front fixing plate 311 .

Wherein, with reference to Fig. 2 and Fig. 8, the front fixing plate 311 is arranged in parallel on the side of the power host 27 close to the joint seat 38, the driving rod A341 and the driving rod B342 are vertically slidably arranged on the front fixing plate 311, and the power host 27 is located in the front fixing plate. Between the plate 311 and the connector seat 38, an instrument identification plate 385 is arranged in parallel, and an induction chip 3851 for identifying the type of the instrument 28 is arranged on the instrument identification plate 385.

Wherein, with reference to Fig. 11, an instrument identification plate 289 representing the type of the instrument 28 is provided on the instrument 28 of the surgical power unit provided by the present application, and when the instrument 28 is connected, the identification plate 289 of the instrument 28 is identified by the instrument identification plate 385 The type of the instrument 28 connected to determine the type, thereby determining how to output power to control the type of instrument 28. Specifically, a plurality of detection chips on the instrument identification plate 385 can be used to detect whether there are magnetic poles at corresponding positions on the instrument identification plate 289 , thereby identifying the type of the connected instrument 28 .

In some embodiments, the driving motor A321, the driving motor B351 and the driving motor C371 are all arranged on the rear fixing plate 312, the output shafts of the driving motor A321, the driving motor B351 and the driving motor C371 are facing the same direction and the axes are parallel to each other, the driving motor A321, the driving motor The output shafts of the motor B351 driving the motor C371 are fixedly provided with detection magnets.

2 and 9, the instrument drive module 30 also includes an origin detection plate 316 parallel to the rear fixed plate 312. The origin detection plate 316 is arranged on the rear fixed plate 312 close to the drive motor A321, the drive motor B351, and the output shaft of the drive motor C371. On one side, the origin detection plate 316 is provided with a rotation induction part B, which is used to obtain the rotation information of each detection magnet on the drive motor A321, the drive motor B351 and the drive motor C371, so as to determine the rotation of the drive motor A321, the drive motor B351 and the drive motor C371. Turn effect.

After the control signal for controlling the rotation of the drive motor is output, the rotation information of the detection magnet on the drive motor is detected by the origin detection board 316 to determine whether the control motor rotates according to the control signal. When it is found that the drive motor does not rotate according to the control signal, according to the internal The program performs compensation to realize closed-loop control so as to improve the precision of the entire device when controlling the apparatus 28 .

In some embodiments, the cross section of the sliding section of the driving rod A341 passing through the joint seat 38 is non-circular, and the shape of the perforation on the joint seat 38 for the driving rod A341 to pass through is adapted to the cross section of the driving rod A341.

When the driving rod A341 passes through the joint seat 38, the non-circular through hole restricts the driving rod A341 in the circumferential direction, so as to prevent the driving rod A341 from rotating and improve the stability of the whole device during operation.

In some embodiments, a motor control circuit is provided in the power host 27, and the motor control circuit includes:

The first control module is used to obtain the deflection information of the control handle 265 in the split surgical device, and control the driving motor A321 in the split surgical device to drive the universal snake assembly 284 to deflect according to the deflection information of the control handle 265 .

The first control module cooperates with the deflection sensor A in the control handle 265, and controls the rotation of the driving motor A321 according to the deflection information of the control handle 265 detected by the deflection sensor A.

The second control module is used to obtain the rotation information of the finger clasp assembly 263, and control the drive motor C371 to drive the end effector 286 to rotate according to the rotation information.

The second control module cooperates with the rotation sensing part in the finger buckle assembly 263, and controls the rotation of the driving motor B351 according to the rotation information of the finger buckle assembly 263 detected by the rotation sensing part.

The third control module is configured to obtain deflection information of the control clip 2632, and control the drive motor B351 to drive the end effector 286 to open and close according to the deflection information.

The first control module cooperates with the deflection sensor B in the finger buckle assembly 263, and controls the rotation of the driving motor B351 according to the deflection information of the control clip 2632 detected by the deflection sensor B.

Embodiment two

Based on the same inventive concept, another embodiment of the present application provides a split-type surgical device, referring to FIG. 10 and FIG. 11 , which includes the above-mentioned surgical power device and instrument 28, and the instrument 28 is detachably arranged on the surgical power device.

The surgical power unit includes a power host 27 and a handle mechanism 26. The power host 27 includes an instrument drive module 30 for providing power to the instrument 28 and a joint seat 38 for installing the instrument 28. The handle mechanism 26 is ball-connected by an adjustment ball assembly 266. On the side of the main engine 27 away from the joint seat 38 .

The instrument 28 includes an interface base 281 , an abdominal access component 282 , a universal snake bone component 284 and an end effector 286 which are sequentially connected. The interface base 281 is used for detachable connection with the joint base 38 .

The handle mechanism 26 includes a control handle 265. The control handle 265 controls the instrument drive module 30 through the adjustment ball assembly 266, so that the universal snake bone assembly 284 is controlled by the instrument drive module 30 to deflect synchronously following the control handle 265. The control handle 265 is provided with The finger clasp assembly 263 is used to control the end effector 286 to rotate or open and close following the finger clasp assembly 263 .

In some embodiments, referring to FIG. 11 and FIG. 13 , the instrument 28 further includes five connecting rods 283 for connecting four driving rods A341 and one driving rod B342, and each connecting rod 283 is slidably disposed on the interface base 281 All of them are perpendicular to the plane of the interface seat 281 , the four driving rods A341 are respectively in transmission connection with four of the connecting rods 283 , and the driving rod B342 is in transmission connection with the other connecting rod 283 .

The projections of the four connecting rods 283 connected to the four driving rods A341 on the plane of the interface seat 281 facing away from the abdominal component 282 form a rectangular distribution. 284 connection.

Referring to Fig. 10 and Fig. 11, the instrument 28 also includes five connecting rods 283 for connecting with the four driving rods A341 and for connecting with the driving rod B342, including four first connecting rods 2833 and four first connecting rods 283. The second connecting rods 2834 in the middle of the rods 2833, each connecting rod 283 is slidably arranged in the interface seat 281 and is perpendicular to the plane of the interface seat 281, and the four driving rods A341 are respectively connected to the four first connecting rods 2833. The driving rod B342 is in transmission connection with another second connecting rod 3834 .

The projections of the four first connecting rods 2833 connected to the four driving rods A341 on the plane of the interface seat 281 facing away from the abdominal assembly 282 are distributed in a rectangular shape, and the four first connecting rods 2833 are connected to the universal joint through a traction wire respectively. The snake assembly 284 is connected, and the second connecting rod 3834 is connected with the end effector 286 through the traction shaft.

Both the ends of the driving rod A341 and the driving rod B342 are fixed with a first connecting portion, and the ends of the connecting rod 283 are all provided with a second connecting portion connected to the first connecting portion, for connecting the driving rod A341 and the driving rod B342 Connect with connecting rod 283.

When the instrument 28 is connected to the surgical power unit, the driving rod A341 is connected to the four connecting rods 283 distributed in a rectangle, so that the power of the driving rod A341 is transmitted to the traction steel wire, which drives the traction steel wire to expand and contract, thereby driving the traction steel wire connected The universal snake assembly 284 deflects, for example, when the driving rod A341 on one side contracts and the driving rod A341 on the other side extends, the universal snake assembly 284 deflects to the contracting side.

After the driving rod B342 is connected to the connecting rod 283 in the middle position, the connecting rod 283 transmits the power of the driving rod B342 to the traction shaft, so that when the driving rod B342 rotates, it drives the end effector 286 to rotate, and when the driving rod B342 stretches, it drives the end The actuator 286 opens and closes.

In some embodiments, referring to FIG. 12 and FIG. 13 , the first connecting part includes a connecting block 3412, and the connecting block 3412 is fixedly connected to the driving rod A341 and the driving rod B342. The two connecting parts include a receiving slot 2832 adapted to the connecting block 3412 and a locking block 2831 for engaging with the locking slot 3413, so that after the connecting block 3412 enters the receiving slot 2832, the driving rod A341 or the driving rod B342 is connected to the corresponding connecting rod 283 connections.

When connecting the surgical power unit and the instrument 28, the two are dislocated butt-connected so that the connecting block 3412 is located on one side of the opening of the accommodation groove 2832, and then the dislocation moves the instrument 28 and the surgical power unit so that the connecting block 3412 enters the accommodation groove 2832 and makes The block 2831 enters the slot 3413, thereby connecting the driving rod A341 and the driving rod B342 with the connecting rod 283, improving the stability of the whole device after connection.

The connecting block 3412 is a rectangular parallelepiped, which prevents relative rotation between the connecting block 3412 and the driving rod A341 or driving rod B342 after entering the receiving groove 2832 .

The cuboid connecting block 3412 is adapted to the receiving groove 2832 to avoid relative rotation of the driving rod A341 or the driving rod B342, further improving the stability of the whole device after connection.

In some embodiments, referring to FIG. 11 and FIG. 14 , the side wall of the interface seat 281 is provided with a fixing block, the side wall of the joint seat 38 is provided with a fixing groove 381 adapted to the fixing block, and the side wall of the fixing groove 381 There is a mounting groove 382 for the fixing block to enter, so that the fixing block enters the fixing groove 381 through the mounting groove 382, thereby connecting the interface seat 281 with the joint seat 38, and the orientation of the mounting groove 382 is the same as that of the receiving groove 2832.

When connecting the surgical power unit and the instrument 28, since the direction of the loading groove is the same as that of the receiving groove 2832, when the connecting block 3412 is located on one side of the opening of the receiving groove 2832, the fixing block is located on the opening side of the installation groove 382, and the instrument 28 Close to the surgical power device, the fixed block enters the fixed groove 381 communicating with the installation groove 382, so that the fixed block enters the fixed groove 381 when the dislocation mobile instrument 28 and the surgical power device are connected, and the stability of the whole device after connection is improved.

In some embodiments, referring to FIG. 10 , the interface base 281 is provided with a first limiter 383 for limiting the interface base 281 from leaving the joint base 38 , and a second limiter for limiting the interface base 281 to displace and slide relative to the joint base 38 . Bits 384.

After the instrument 28 is connected to the surgical power unit, the interface seat 281 is restricted from the joint seat 38 by the first stopper 383, and the interface seat 281 is further limited by the second stopper 384 to slide relative to the joint seat 38. The direction connects the instrument 28 to the surgical power unit and fixes them to each other, so as to improve the stability of the whole device after the connection. When the instrument 28 is disassembled, after the first stopper 383 and the second stopper 384 are released, the interface seat 281 and the joint seat 38 are dislocated and moved, so that the instrument 28 can be separated from the surgical power unit, so that the instrument 28 can be easily replaced.

In some embodiments, the instrument 28 further includes: an instrument identification plate 289 , different sensing blocks are provided on the instrument identification plate 289 of different instruments 28 for identification by the sensing chip 3851 on the instrument identification plate 385 in the surgical power unit.

When the instrument 28 is connected, the type of the instrument identification plate 289 is identified by the instrument identification plate 385 , thereby determining the type of the connected instrument 28 , thereby determining how to output power to control the type of instrument 28 . Specifically, a plurality of detection chips on the instrument identification plate 385 can be used to detect whether there are magnetic poles at the corresponding positions on the instrument identification plate 289 , so as to identify the type of the connected instrument 28 .

Embodiment three

Based on the same inventive concept, another embodiment of the present application provides a surgical robot, including the above-mentioned split surgical device with reference to FIG. 15 , and also includes:

The support system 200 and the floating rod assembly 23 , the upper end of the floating rod assembly 23 is connected to the support system 200 , and the split surgical device is detachably arranged at the lower end of the floating rod assembly 23 .

When using a split surgical device, connect the split surgical device to the floating rod assembly 23, adjust the height of the split surgical device through the floating rod assembly 23, and adjust the position of the split surgical device by adjusting the support system 200, effectively Improves the convenience of using split surgical devices.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

While the preferred embodiments of the embodiments of the present application have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once the basic inventive concept is understood. Therefore, the appended claims are intended to be interpreted to cover the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the application.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or terminal equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

A surgical power device, a split surgical device and a surgical robot provided by the present application have been described above in detail. In this paper, specific examples are used to illustrate the principle and implementation of the present application. The description of the above embodiments is only used To help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation and application scope. In summary, this specification The content should not be construed as a limitation of the application.

Claims

A surgical power device, characterized in that it comprises:

Power host (27) and handle mechanism (26);

The power host (27) includes a housing and an instrument driving module (30), and the instrument driving module (30) is arranged in the housing;

The instrument driving module (30) includes a mounting part (31), a driving mechanism, four driving rods A (341) and a driving rod B (342), and the four driving rods A (341) are arranged along their own axes. Slidingly arranged on the mounting part (31) in one direction, the driving rod B (342) is slidably arranged on the mounting part (31) along its own axis direction, and at the same time is rotatably arranged on the on part (31);

One end of the power main engine (27) is provided with a joint seat (38) for connecting an instrument (28), and four of the driving rods A (341) and one of the driving rods B (342) are connected from the joint seat. (38) protruding to be connected with a plurality of traction steel wires in the apparatus (28) in a one-to-one corresponding transmission connection, and the four driving rods A (341) deviate from the power host (27) at the joint seat (38) The projection of the plane on one side is distributed in a rectangle, and the projection of the driving rod B (342) on the plane is located at the center of the rectangle;

The drive mechanism includes a drive motor B (351), a drive motor C (371) and two drive motors A (321), and the drive motor A (321) is used to drive the two drive rods positioned at the opposite corners of the rectangle. A (341) synchronously reverse telescoping; the drive motor B (351) is used to drive the drive rod B (342) to slide; the drive motor C (371) is used to drive the drive rod B (342) to rotate ;

The handle mechanism (26) includes a control handle (265), and the control handle (265) is ball-connected to the end of the power host (27) away from the joint seat (38) through an adjustment ball assembly (266), for Control the two driving motors A (321) to drive the driving rod A (341) to move, thereby driving the end effector (286) of the instrument (28) to deflect, and the control handle (265) is provided with a finger A clasp assembly (263), the finger clasp assembly (263) is used to control the drive motor B (351) to drive the drive rod B (342) to expand and contract, and/or to control the drive motor C (371) Drive the driving rod B (342) to rotate.
The surgical power device according to claim 1, characterized in that, a deflection sensor A is arranged inside the adjustment ball assembly (266), and the deflection sensor A is used to collect deflection information of the control handle (265) ;

Wherein, the two driving motors A (321) drive the four driving rods A (341) to expand and contract according to the deflection information of the control handle (265), and take the four driving rods A (341) in a static state ( 341) and the same point on the joint seat (38) towards the plane distance of the side of the apparatus (28) forms a motion plane, and during the telescopic process of the four drive rods A (341), the motion plane follows the The deflection information is deflected synchronously with the control handle (265).
The surgical power device according to claim 1, characterized in that, the finger clasp assembly (263) is rotatably arranged on the control handle (265), and the finger clasp assembly (263) includes a The handle (265) rotates the connected clip mounting block (2631), and the clip mounting block (2631) is provided with a rotation sensing part, and the rotation sensing part is used to obtain the rotation information of the finger buckle assembly (263) ;

Wherein, the driving motor C (371) drives the driving rod B (342) to rotate following the finger snap assembly (263) according to the rotation information of the finger snap assembly (263).
The surgical power device according to claim 3, characterized in that, a control clip (2632) is rotatably arranged on the clip mounting block (2631), and the rotation axis of the control clip (2632) is in line with the clip The axis of rotation of the sheet mounting block (2631) is vertical;

Wherein, the clip installation block (2631) is provided with a deflection sensor B for obtaining the deflection information of the control clip (2632), and the driving motor B (351) is used for The deflection information of (2632) drives the drive rod B (342) to expand and contract.
The surgical power device according to claim 4, characterized in that, the control clip (2632) is provided with a finger follow-up ring (2633) which is used for fingers to pass through, and the finger follow-up ring (2633) It is used to drive the control clip (2632) to rotate following the fingers.
The surgical power device according to claim 4, characterized in that the control clip (2632) is provided with two pieces, the rotation axes of the two control clips (2632) are parallel to each other, and with respect to the clip The mid-vertical plane of the mounting block (2631) is symmetrical.
The surgical power device according to claim 1, characterized in that, the installation part (31) includes a support column and a rear fixing plate (312) and a front fixing plate (311) arranged in parallel and at intervals, and the support column is connected to Between the rear fixing plate (312) and the front fixing plate (311); wherein, the driving motor B (351), the driving motor C (371) and the two driving motors A (321) are set between said rear fixing plate (312) and said front fixing plate (311);

Wherein, the front fixing plate (311) is arranged in parallel on the side of the power host (27) close to the joint seat (38), and the driving rod A (341) and the driving rod B (342) slide vertically It is arranged on the front fixing plate (311), and an instrument identification plate (385) is arranged in parallel between the front fixing plate (311) and the joint seat (38) in the power host (27), so that An induction chip (3851) for identifying the type of the instrument (28) is arranged on the instrument identification plate (385).
The surgical power device according to claim 7, characterized in that, the driving motor A (321), the driving motor B (351), and the driving motor C (371) are all arranged on the rear fixing plate (312 ), the output shafts of the drive motor A (321), the drive motor B (351) and the drive motor C (371) face the same direction and the axes are parallel to each other, the drive motor A (321), the drive The output shaft of the driving motor C (371) described in the motor B (351) is fixedly provided with detection magnets;

Also includes an origin detection plate parallel to the rear fixed plate (312), the origin detection plate is arranged on the rear fixed plate (312) close to the drive motor A (321), the drive motor B (351) The side of the output shaft of the drive motor C (371) is facing, and the rotation sensor B is arranged on the origin detection plate, which is used to obtain the The rotation information of each detection magnet on the drive motor C (371) is used to determine the rotation effect of the drive motor A (321), the drive motor B (351) and the drive motor C (371).
The surgical power device according to claim 1, characterized in that, the section of the sliding section of the drive rod A (341) passing through the joint seat (38) is non-circular, and the joint seat (38) The shape of the hole through which the driving rod A ( 341 ) passes is adapted to the cross-section of the driving rod A ( 341 ).
The surgical power device according to claim 4, characterized in that, a motor control circuit is arranged in the power host (27), and the motor control circuit includes:

The first control module is used to obtain the deflection information of the control handle (265) in the split-type surgical device, and control the drive motor A (321) in the split-type surgical device to drive according to the deflection information of the control handle (265). deflection of the universal snake assembly (284) on the instrument (28);

The second control module is used to acquire the rotation information of the finger clasp assembly (263), and control the drive motor C (371) to drive the end effector (286) to rotate according to the rotation information;

The third control module is configured to obtain deflection information of the control clip (2632) on the instrument (28), and control the drive motor B (351) to drive the end effector (286) to open and close according to the deflection information .
The surgical power device according to claim 1, characterized in that, the instrument drive module (30) further comprises:

Two groups of transmission parts A (33), each group of transmission parts A (33) includes a driving steel wire A (331), and the driving steel wire A (331) is connected with two described driving rods A (341). A is used to output the power of the driving motor A (321), so that the driving motor A (321) drives the two driving rods A (341) located at the opposite corners of the rectangle through the driving steel wire A (331) Synchronous reverse scaling.
A split surgical device, characterized in that it includes the surgical power device described in any one of claims 1-11, and further includes:

an instrument (28), the instrument (28) being detachably arranged on the surgical power unit;

The surgical power unit includes a power host (27) and a handle mechanism (26), and the power host (27) includes an instrument drive module (30) for providing power to the instrument (28) and for installing the The joint seat (38) of the instrument (28), the handle mechanism (26) is ball-connected to the power host (27) on the side away from the joint seat (38) through an adjustment ball assembly (266);

The instrument (28) includes an interface seat (281), an abdominal assembly (282), a universal snake bone assembly (284) and an end effector (286) connected in sequence, and the interface seat (281) is used for connecting with the The joint seat (38) is detachably connected;

The handle mechanism (26) includes a control handle (265), and the control handle (265) controls the instrument driving module (30) through the adjusting ball assembly (266), so that the instrument driving module ( 30) Control the universal snake assembly (284) to deflect synchronously following the control handle (265), and the control handle (265) is provided with a finger clasp assembly (263) for controlling the end effector ( 286) Follow the rotation or opening and closing of the finger clasp assembly (263).
The split surgical device according to claim 12, wherein the instrument (28) further comprises:

Five connecting rods (283) for connecting with the four driving rods A (341) and for connecting with the driving rod B (342), each of the connecting rods (283) is slidably arranged on the In the interface seat (281) and all perpendicular to the plane of the interface seat (281), the four drive rods A (341) are respectively connected to four of the connecting rods (283) in transmission, and the drive rod B (342) is transmission-connected with another described connecting rod (283);

The projections of the four connecting rods (283) connected to the four driving rods A (341) on the plane of the interface seat (281) away from the abdominal component (282) are distributed in a rectangular shape, so The connecting rods (283) are respectively connected with the universal snake assembly (284) through a traction steel wire or a traction shaft;

Both ends of the driving rod A (341) and the driving rod B (342) are fixed with first connecting parts, and the ends of the connecting rods (283) are all provided with connecting parts connected with the first connecting parts. The second connecting part is used to connect the driving rod A (341) and the driving rod B (342) with the connecting rod (283).
The split surgical device according to claim 13, characterized in that, the first connecting part comprises a connecting block (3412), and the connecting block (3412) is connected to the driving rod A (341) and the driving rod B (342) is fixedly connected, a circle of card slots (3413) is formed at the connection of the connection block (3412), and the second connection part includes a receiving groove (2832) adapted to the connection block (3412) and A clamping block (2831) for clamping with the clamping slot (3413), so that the drive rod A (341) or the drive rod B (342 ) is connected with the corresponding connecting rod (283).
The split surgical device according to claim 14, characterized in that, the connecting block (3412) is a rectangular parallelepiped, preventing the connecting block (3412) from entering the receiving groove (2832) and driving rod A (341 ) or the relative rotation of the drive rod B (342).
The split surgical device according to claim 14, characterized in that, a fixed block is provided on the side wall of the interface seat (281), and a fixed block is provided on the side wall of the joint seat (38). An adapted fixing groove (381), the side wall of the fixing groove (381) is provided with an installation groove (382) for the fixing block to enter, so that the fixing block enters through the installation groove (382) The fixing groove (381) connects the interface seat (281) and the joint seat (38), and the orientation of the installation groove (382) is the same as that of the receiving groove (2832).
The split surgical device according to claim 14, characterized in that, the interface seat (281) is provided with a first stopper ( 383), and there is a second limiting member (384) for limiting the misalignment and sliding of the interface seat (281) relative to the joint seat (38).
The split type surgical device according to claim 12, characterized in that, the instrument (28) further comprises: an instrument identification plate (289), which is not set on the instrument identification plate (289) of the instrument (28) There are different induction blocks for identification by the induction chip (3851) on the instrument identification board (385) in the surgical power unit.
A surgical robot, characterized in that it comprises the split surgical device according to claim 12, further comprising:

A support system (200) and a floating rod assembly (23), the upper end of the floating rod assembly (23) is connected to the support system (200), and the split surgical device is detachably arranged on the floating rod assembly (23) ) at the lower end.