Disclosure of Invention
The invention provides a medical instrument installation identification device, which comprises a medical instrument and an installation end. The medical instrument comprises a first connecting structure and a sensing chip; the mounting end includes a second connection structure and a permanent magnet, the second connection structure configured to be detachably mounted in cooperation with the first connection structure to detachably connect the medical instrument with the mounting end; in a state in which the medical instrument is connected to the mounting end, the sensor chip is opposed to the permanent magnet, and the sensor chip and the permanent magnet are at least partially overlapped in directions opposed to each other, the sensor chip being configured to read a magnetic pole direction of the permanent magnet.
For example, in the medical instrument mounting identification device provided by the invention, in a state in which the first connection structure and the second connection structure are connected, the entire sensor chip and the permanent magnet overlap in directions opposite to each other.
For example, in the medical instrument installation identification device provided by the invention, the medical instrument installation identification device further comprises a controller, and the controller is in signal connection with the sensing chip; the controller is configured to determine whether the sensor chip reads a magnetic pole direction of the permanent magnet, which is an extending direction of a north-south polar axis of the permanent magnet.
For example, in the medical instrument installation identification device provided by the invention, the controller and the sensing chip are configured to jointly detect an installation included angle between the magnetic pole direction of the permanent magnet and the axis of the medical instrument; the controller is further configured to determine a type of the medical instrument based on the included angle of installation.
For example, in the medical instrument installation recognition device provided by the invention, the sensing chip is provided with a central line, the position relationship between the central line and the axis of the medical instrument is fixed, and the sensing chip is configured to detect a first included angle between the magnetic pole directions of the permanent magnet and the central line; the controller is configured to calculate the mounting angle from the first angle and a positional relationship between the centerline and an axis of the medical instrument.
For example, in the medical instrument installation identification device provided by the invention, the north-south polar axis of the permanent magnet is parallel to the plane where the sensing chip is located.
For example, in the medical instrument installation recognition device provided by the invention, the sensing chip is a magnetic encoder chip.
For example, in the medical instrument installation recognition device provided by the invention, the medical instrument is a stab card connecting part connected with the tail end of the mechanical arm of the surgical robot, and the stab card connecting part is configured to allow the rod part of the surgical execution component for executing the surgical operation to pass through and limit the surgical execution component.
For example, in the medical instrument installation identifying device provided by the invention, the poking card connecting part extends along the axial direction and comprises a pipeline extending along the axial direction, the rod part of the operation executing component passes through the pipeline along the axial direction to be limited by the pipeline, the first connecting structure of the poking card connecting part is connected with the pipeline, is positioned at the first end of the pipeline and protrudes out of the pipeline in the transverse direction, and the transverse direction is perpendicular to the axial direction; the first connecting structure is provided with a first working surface, and the sensing chip is arranged on the first working surface; the second connecting structure is provided with a second working surface, the permanent magnet is arranged on the second working surface, and the second working surface is opposite to the first working surface in the state that the medical instrument is connected with the mounting end; the first working face of the first connecting structure of the poking card connecting part and the permanent magnet are positioned at the end part of the first connecting structure, which is far away from the first end of the pipeline in the axial direction, the second connecting structure of the mounting end comprises an opening, the opening is provided with a side wall, and the sensing chip is arranged on the side wall of the opening; the first connection structure of the stamping card connection component comprises a first clamping structure, the second connection structure of the mounting end comprises a second clamping structure, the first clamping structure is configured to be clamped with the second clamping structure so that the medical instrument is connected with the mounting end, and in a state that the medical instrument is connected with the mounting end, the end of the first connection structure is opposite to and connected with the side wall of the opening of the second connection structure.
For example, in the medical instrument installation identification device provided by the invention, the medical instrument is a surgical execution member installation box, and the installation end is a surgical execution member driving box; the surgical execution member further comprises a rod part, a first end of the rod part is connected with the surgical execution member mounting box, and the surgical execution member driving box comprises a shell and a motor arranged in the shell; the surgical execution member mounting box is configured to be connectable with the surgical execution member driving box such that a motor is connected with a surgical execution member, a rod portion of the surgical execution member passes through the surgical execution member driving box, and the motor is configured to drive the surgical execution member to perform a surgical operation.
For example, in the medical instrument installation recognition device provided by the invention, the rod part of the operation execution member extends along the axial direction; the first connecting structure is provided with a first working surface, and the sensing chip is arranged on the first working surface; the second connecting structure is provided with a second working surface, the permanent magnet is arranged on the second working surface, and the second working surface is opposite to the first working surface in the state that the medical instrument is connected with the mounting end; the first working surface is a surface of a mounting end of the surgical execution member mounting case facing the rod portion, the second working surface is a surface perpendicular to the axial direction in the surgical execution member driving case, and the permanent magnet and the sensor chip are opposed to each other in the axial direction and at least partially overlap in a state where the surgical execution member mounting case is connected to the surgical execution member driving case.
The present invention also provides a surgical robot apparatus comprising: the medical instrument installation identification device is arranged at the tail end of the operation arm and is detachably connected with the tail end of the operation arm.
The invention also provides a medical instrument installation identification method, which is applied to any one of the medical instrument installation identification devices provided by the embodiment of the invention, and comprises the following steps: reading the magnetic pole direction of the permanent magnet through the sensing chip in a state that the medical instrument is connected with the mounting end; and judging whether the sensing chip reads the magnetic pole direction of the permanent magnet, if so, the medical instrument is installed in place as a recognition result, and if not, the medical instrument is not installed in place as a recognition result.
The invention also provides a medical instrument installation identification method, which further comprises the following steps: detecting an installation included angle between the magnetic pole direction of the permanent magnet and the axis of the medical instrument, wherein the magnetic pole direction of the permanent magnet is the extending direction of the north-south polar axis of the permanent magnet; and judging the type of the medical instrument according to the installation included angle.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. "inner", "outer", "upper", "lower", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.
The drawings in the present invention are not necessarily to scale, and the specific dimensions and numbers of the various features may be determined according to actual needs. The drawings described in the present invention are only schematic in structure.
The minimally invasive surgery robot generally comprises a doctor control console, a patient surgery platform and an image platform. The patient operation platform is provided with a plurality of mechanical arms for performing operation in multiple axes, the operation execution member is arranged on the mechanical arms, and the operation execution member and the mechanical arms move in a matched manner under the control instruction of the doctor console to complete corresponding operation actions.
Before performing an operation through the operation performing member, the operation performing member needs to be mounted on the end of the mechanical arm and needs to be matched with some medical instruments, for example, the medical instruments comprise parts for fixing or limiting the operation performing member, and whether the parts are mounted in place or not is important to improve the mounting efficiency, the mounting accuracy and the use reliability of the operation performing member.
At least one embodiment of the present invention provides a medical instrument mounting identification device including: a medical device and a mounting end. The medical instrument comprises a first connecting structure and a sensing chip; the mounting end includes a second connection structure and a permanent magnet, the second connection structure configured to be detachably mounted in cooperation with the first connection structure to detachably connect the medical instrument with the mounting end; in a state in which the medical instrument is connected to the mounting end, the sensor chip is opposed to the permanent magnet, and the sensor chip and the permanent magnet are at least partially overlapped in directions opposed to each other, the sensor chip being configured to read a magnetic pole direction of the permanent magnet. The medical instrument installation recognition device provided by at least one embodiment of the invention can effectively detect whether the medical instrument is installed in place or not through the magnetic pole direction of the permanent magnet.
At least one embodiment of the present invention also provides a surgical robot apparatus including: the medical instrument installation identification device is arranged at the tail end of the operation arm and is detachably connected with the tail end of the operation arm.
Fig. 1 is a schematic block diagram of a medical device installation recognition apparatus in a connected state according to an embodiment of the present invention. Referring to fig. 1, a medical instrument mounting identification apparatus 10 includes: a medical device 01 and a mounting end 02. The medical device 01 includes a first connection structure 01a and a sensor chip 141; the mounting end 02 includes a second connection structure 02a and a permanent magnet 151, the second connection structure 02a being configured to be detachably mounted in cooperation with the first connection structure 01a so that the medical instrument 01 is detachably connected to the mounting end 02; in a state where the medical instrument 01 is connected to the mounting end 02, the sensor chip 141 is opposed to the permanent magnet 151, and the sensor chip 141 and the permanent magnet 151 are at least partially overlapped in directions opposed to each other, the sensor chip 141 being configured to read the magnetic pole direction of the permanent magnet 151. With the medical instrument mounting recognition device, it is possible to detect whether the medical instrument 01 and the mounting end 02 are mounted in place, and if the medical instrument 01 and the mounting end 02 are mounted in place, the sensing chip 141 and the permanent magnet 151 may be at least partially opposed to each other and the sensing chip 141 and the permanent magnet 151 may be at least partially overlapped in a direction opposed to each other, so that a magnetic field of the permanent magnet 151 may pass through a space between the permanent magnet 151 and the sensing chip 141 or other structures such as a permanent magnet cover plate covering the permanent magnet 151 or a protective layer covering the sensing chip 141, etc., to enable the sensing chip 141 to read a magnetic pole direction of the permanent magnet 151 at a spacing. Thus, it can be judged whether or not the medical instrument 01 and the mounting end 02 are mounted in place, that is, whether or not the medical instrument 01 is correctly and accurately mounted on the mounting end 02, by whether or not the magnetic pole direction of the permanent magnet 151 is read. Especially for some medical instruments or parts of medical instruments which are normally and correctly, tightly and reliably connected with each other after the installation is finished, the installation space is narrow, detection means such as visual detection, photoelectric detection and the like cannot be arranged, and the medical instrument installation identification device and the identification method provided by the embodiment of the invention can realize that whether the medical instruments which are mutually connected are correctly, tightly and reliably connected can be detected through non-contact detection, do not occupy extra space, and can effectively and conveniently solve the problems in the application process of the medical instruments.
For example, the first connection structure 01a has a first working face on which the sensor chip 141 is disposed; the second connection structure 02a has a second working surface on which the permanent magnet 151 is provided, the second working surface being opposed to the first working surface in a state in which the medical instrument 01 is connected to the mounting end 02.
Fig. 2A is a schematic structural view of a medical device installation identifying device in a connected state according to an embodiment of the present invention. Fig. 2B is a simplified schematic diagram of the medical instrument installation identification device shown in fig. 2A. Referring to fig. 2A and 2B, for example, in the medical instrument mounting identification device 10, a medical instrument 01 is a tab connection member 150 connected to a distal end of a mechanical arm of a surgical robot, a mounting end 02 is a tab mounting end 140 for detachably connecting with the tab connection member 150 to fix the tab connection member 150, and the tab connection member 150 is configured to allow a rod portion of a surgical execution member that performs a surgical operation to pass therethrough and to limit the surgical execution member. After the installation of the card connecting component 150 and the card installing end 140, the card connecting component 150 and the card installing end 140 cannot be connected correctly, tightly and reliably, and the standard non-disposable card connecting component 150 needs to be sterilized and disinfected for multiple times, has a smooth surface, cannot be provided with gaps, cannot be provided with a detection device on the surface of the standard non-disposable card connecting component, and cannot be provided with detection means such as visual detection and photoelectric detection due to narrow space at the tail end of the mechanical arm.
To clearly describe the position and function of the card connecting member 150 and the card mounting end 140 during use, fig. 8 is a schematic view of a surgical robot apparatus according to an embodiment of the present invention, and fig. 9 is a schematic view of the end of the surgical robot arm of fig. 8 to which the medical instrument mounting identification device according to an embodiment of the present invention is mounted. Referring to fig. 8, the medical instrument mounting recognition device is mounted at an end of a surgical robot arm, which is an end that is close to an object to be operated during a surgery, for mounting a surgical instrument, and performing a surgical operation. Referring to fig. 9, before performing an operation, the tab connection part 150 is connected with the tab mounting end 140 to be mounted on the tab mounting end 140, the position of the tab connection part 150 is maintained stable, and the rod part 121 of the operation performing member performing the operation passes through the tab connection part 150, thereby limiting the operation performing member using the tab connection part 150, so that the position controllability and stability of the operation performing member are maintained during the operation performing. While accurate installation of the tab connection member 150 is important for its proper function, maintaining reliability and accuracy of the surgical operation member limit, especially in the case where the surgical operation is accurately performed by controlling the surgical operation member installed at the distal end of the surgical robot by an operator such as a doctor remotely controlling the movement of the surgical robot.
Fig. 4A is a schematic structural view of the medical instrument attachment identifying device shown in fig. 2A in one view in a non-connected state, and fig. 4B is a schematic structural view of the medical instrument attachment identifying device shown in fig. 2A in another view in a non-connected state. Referring to fig. 4A and 4B, for example, the tab connection part 150 extends axially as a whole and includes an axially extending tube 150a, and during installation of the surgical execution member, the shaft of the surgical execution member passes axially through the tube 150a to be restrained by the tube 150 a. For example, the first connection structure 01a of the tab connection member 150 is connected to the tube 150a, is located at a first end of the tube 150a, and protrudes from the tube 150a in a lateral direction, and is perpendicular to the axial direction in the lateral direction.
For example, the first working surface of the first connection structure 01a of the tab connection member 150 and the permanent magnet 151 are located at an end of the first connection structure 01a axially distant from the first end of the pipe, the second connection structure 02a of the mounting end 02 includes an opening O having a side wall, and the sensor chip 141 is disposed on the side wall of the opening O; the first connection structure 01a of the card connector 150 includes a first clamping structure, for example, the first clamping structure is a card fixing slot 154; the second connection structure 02a of the stab card mounting end 140 (i.e., the mounting end 02 of the medical device 01) includes a second snap-in structure, such as a latch 145. The first engagement structure is configured to be engageable with the second engagement structure so that the medical instrument 01 is connected to the mounting end 02, and in a state in which the medical instrument 01 is connected to the mounting end 02, an end portion of the first connection structure 01a provided with the permanent magnet 151 (a lower end of the permanent magnet 151 in fig. 4A) is opposed to and connected to a side wall of the opening O of the second connection structure 02a so that the sensor chip 141 and the permanent magnet 151 are opposed to each other and at least partially overlap in a direction opposed to each other. This design can be conveniently and reliably implemented such that the sensor chip 141 and the permanent magnet 151 are opposed to each other and at least partially overlap in the direction opposed to each other when the tab connection member 150 is mounted on the tab mounting end 140. For example, the magnetic field of the permanent magnet 151 passes through the permanent magnet cover 155 (the permanent magnet cover 155 may not be provided), so that the sensor chip 141 can read the magnetic pole direction of the permanent magnet 151 at intervals.
For example, in at least one embodiment, as shown in fig. 4A and 4B, the first connection structure 01a of the card connecting member 150 further includes a card mounting side contact surface 152, a card mounting lower contact surface 153. The operator installs the sterile boot plate 146 on the tamper evident mounting end 140 and presses the side key 143 to open the latch 145 inside the tamper evident mounting end 140. At the same time, the operator inserts the tab connection member 150 along the tab mounting axis 160 from the intermediate aperture of the sterile boot plate 146, and the tab connection member 150 is guided by the tab mounting side contact surface 152 and the tab mounting lower contact surface 153 and eventually slides into the tab mounting end 140. At this time, the side key 143 is released, and the latch 145 inside the card attachment end 140 is pushed in to the middle, holding the card fixing groove 154, and fixing the card connecting member 150 to the card attachment end 140.
Of course, the specific structures of the card mounting end 140 and the card connecting member 150 are not limited to those shown in fig. 4A and 4B, which is just one example, as long as it is satisfied that the sensor chip 141 and the permanent magnet 151 face each other and at least partially overlap in the direction facing each other when the card connecting member 150 is mounted on the card mounting end 140.
For example, in a state where the first connection structure 01a and the second connection structure 02a are connected, the entire sensor chip 141 and the permanent magnet 151 overlap in directions opposite to each other to achieve a better effect of reading the magnetic pole directions of the permanent magnet 151, thereby facilitating more accurate alignment connection of the tab mounting end 140 and the tab connection member 150.
Through testing, for example, in the medical apparatus installation identifying device 10, the distance between the sensing chip 141 and the permanent magnet 151 (the distance between the surfaces overlapping each other and opposing each other) may be made smaller than 5mm, so as to achieve a better effect of reading the magnetic pole direction of the permanent magnet 151, thereby being beneficial to more accurately realizing the alignment connection of the tab card installation end 140 and the tab card connecting member 150.
Fig. 3 is a schematic view of a part of a medical apparatus installation recognition device according to an embodiment of the present invention. Referring to fig. 3, for example, the medical instrument mounting identification apparatus 10 further includes a controller 170, the controller 170 being in signal connection with the sensor chip 141; for example, the controller 170 is a main control chip. The controller 170 is configured to determine whether the sensing chip 141 reads the magnetic pole direction of the permanent magnet 151, the magnetic pole direction of the permanent magnet 151 being the extending direction of the north-south polar axis 156 of the permanent magnet 151.
For example, referring to fig. 3, the controller 170 is connected to an interface of the sensing chip 141 through a wire 161, and the permanent magnet 151 is located directly above the sensing chip 141.
For example, the sensor chip 141 is a magnetic encoder chip. For example, the magnetic encoder chip (141) may be a magnetic encoder chip such AS5047, MT6816, AS5600, or the like. For example, the controller 170 (e.g., a main control chip) is connected to the interface of the sensor chip 141 through the wire 161; or the controller 170 is wirelessly connected to the sensor chip 141.
For example, the controller 170 and the sensor chip 141 are configured to collectively detect a mounting angle between the magnetic pole direction of the permanent magnet 151 and the axis 160 of the medical instrument; the controller 170 is further configured to determine the type of medical device 01 based on the included angle of installation.
Referring to fig. 2A, the mounting axis of the tab connection member 150, i.e., the axis 160 of the medical device described above, extends in a lateral direction and passes through a location where the tab connection member 150 and the tab mounting end 140 are connected to each other, such as a location where they are snapped into each other.
For example, referring to fig. 3 and 2A, the positional relationship between the magnetic pole direction of the permanent magnet 151 and the axis 160 of the medical instrument is fixed, the sensor chip 141 has a center line 147, and the sensor chip 141 is configured to detect a first angle between the magnetic pole direction of the permanent magnet 151 (the extending direction of the north-south pole axis 156 of the permanent magnet 151) and the center line 147; in the medical instrument mounting identification device 10, the positional relationship between the center line 147 and the axis 160 of the medical instrument (i.e., the mounting direction axis 160 of the tab connection member 150) is fixed, and thus, the controller 170 is configured to calculate the mounting angle, that is, the angle between the magnetic pole direction of the permanent magnet 151 (the extending direction of the north-south pole axis 156 of the permanent magnet 151) and the axis 160 of the medical instrument, based on the first angle and the positional relationship between the center line 147 and the axis 160 of the medical instrument. Therefore, the installation included angle can be obtained, the controller 170 can judge the type of the medical apparatus 01 according to the installation included angle, for example, the installation angles of different stamping card connecting components are different, and can judge which type of stamping card connecting component is specific according to the calculated installation angle after installation so as to guide the subsequent operation.
For example, the north-south axis 156 of the permanent magnet 151 is parallel to the plane of the sensor chip 141, so as to facilitate mounting and simplify calculation of the mounting angle.
Fig. 5 is a schematic structural view of another medical device installation identifying device according to an embodiment of the present invention in a connected state. Fig. 6 is a schematic view showing the structure of the medical instrument attachment identifying device shown in fig. 5 in a non-connected state. Fig. 7 is a partial detail view of the structure of the instrument drive mechanism of fig. 5 after attachment to an instrument.
Referring to fig. 5, for example, medical instrument 01 is a surgical execution member mounting box 120, and mounting end 02 is a surgical execution member driving box 130; the surgical execution member further includes a rod portion 121, a first end of the rod portion 121 is connected to the surgical execution member mounting box 120, and the surgical execution member driving box 130 includes a housing and a motor disposed in the housing, for example, the motors 001, 002, 003, 004, 005 shown in fig. 7, the five motors being shown here, but in the embodiment of the present invention, the number of motors is not limited and may be designed as needed. The surgical execution member mounting box 120 is configured to be connectable with the surgical execution member driving box 130 such that a motor is connected with the surgical execution member, a shaft 121 of the surgical execution member passing through the surgical execution member driving box 130, the motor being configured to drive the surgical execution member to perform a surgical operation.
Referring to fig. 6, for example, the first working surface is a surface of the mounting end of the surgical execution member mounting case 120 facing the rod portion, and the second working surface is a surface perpendicular to the axial direction in the surgical execution member driving case 130, for example, a permanent magnet 151 is provided on the first working surface, and a sensor chip 141 is provided on the second working surface. The surgical execution member mounting case 120 is connected to the surgical execution member driving case 130, and as shown in fig. 5, in a state in which the surgical execution member mounting case 120 is connected to the surgical execution member driving case 130, the permanent magnet 151 and the sensor chip 141 are axially opposite to each other and at least partially overlap, for example, may completely overlap, which means: in the directions opposite to each other, the orthographic projection of at least one of the two opposite to each other is located within the orthographic projection of the other.
For example, the axis of the surgical implement mounting box 120, i.e., the axis 160 of the medical device described above, extends in an axial direction.
Fig. 7 is a partial detail view of the structure of the instrument drive mechanism of fig. 5 after attachment to an instrument. Referring to fig. 7, the surgical execution member driving cassette 130 includes a docking structure 1, the docking structure 1 being connected to a mounting end of a surgical instrument in the surgical execution member mounting cassette 120 for performing a surgery, and a motor within the surgical execution member driving cassette 130, for example, the first to fifth motors 001 to 005 shown in fig. 7 described above, being configured to drive the docking structure to rotate about a rotation axis extending in an axial direction of a motor shaft, so as to cooperatively connect the docking structure 1 to the mounting end of the surgical instrument.
For example, the surgical instrument includes an intermediate connecting member 30A and an end surgical performing member (not shown, as an example of a docking structure 1 connecting one intermediate connecting member 30A and one motor 001/002/0/003/004/005 to effect docking of the motor with the instrument 101. Surgical performing members, such as surgical instruments including scalpels, hemostats, endoscopes, etc. the shaft of the surgical performing member 3 may pass through the passage of the holder into the penetrator and then into the cavity of the subject being operated.
For example, the surgical performing member mounting box 120 may further include a transmission mechanism, referring to fig. 7, connecting the second end of the intermediate connecting member 30A, which is remote from the docking structure 1, with the surgical performing member, and configured to drive the surgical performing member to perform a surgical operation under the drive of the motor. The transmission mechanism may include gears, transmission rods, etc., for example, to convert rotational motion of a shaft of the motor into linear motion to control various modes of motion of the surgical implement in combination with other transmission members to complete the surgical procedure.
Generally, after the surgical execution component mounting box 120 and the surgical execution component driving box 130 are mounted, they cannot be connected correctly, tightly and reliably, and referring to fig. 8-9, the surgical execution component mounting box 120 and the surgical execution component driving box 130 need to be mounted at the mechanical arm end 110 for performing a surgical operation, and the mechanical arm end has a small space, and cannot be provided with detection means such as visual detection and photoelectric detection.
Other features and corresponding technical effects not mentioned in the embodiments shown in fig. 5-7, such as the mounting alignment detection method, the detection of the mounting angle, etc. are the same as those described in the embodiments shown in fig. 2A-3, please refer to the previous description, and are not repeated here.
The embodiment of the present invention also provides a medical instrument installation recognition method applied to the medical instrument installation recognition device 10 of any of claims 1 to 11, the medical instrument installation recognition method comprising: in a state where the medical instrument 01 is connected to the mounting end 02, the magnetic pole direction of the permanent magnet 151 is read by the sensor chip 141; and judging whether the sensing chip 141 reads the magnetic pole direction of the permanent magnet 151, if so, the medical instrument 01 is mounted in place as a result of the recognition, and if not, the medical instrument 01 is not mounted in place as a result of the recognition.
The medical instrument installation identification method further comprises the following steps: detecting an installation included angle between a magnetic pole direction of the permanent magnet 151 and an axis 160 of the medical instrument, wherein the magnetic pole direction of the permanent magnet 151 is an extending direction of a north-south polar axis 156 of the permanent magnet 151; and judging the type of the medical instrument 01 according to the installation included angle.
The specific procedure of the medical instrument installation recognition method, including the installation alignment detection method, the detection of the installation angle, and the like, refer to the description of the operation procedure of the medical instrument installation recognition apparatus 10 in the previous embodiment, and will not be repeated here.
The embodiment of the invention also provides a surgical robot device, which comprises: a surgical operation arm, and any of the medical instrument attachment identification devices 10 provided in the embodiments of the present invention. The medical instrument attachment identifying device 10 is attached to and detachably connected to the distal end of the surgical operation arm.
Fig. 8 is a schematic view of another surgical robot apparatus according to an embodiment of the present invention, in which only one mechanical arm 1001 is installed.
Fig. 10 is a schematic view of another surgical robotic device provided in an embodiment of the present invention. Referring to fig. 10, the surgical robot 1000 may further include a plurality of surgical operation arms, and the medical instrument installation recognition apparatus 10 according to the embodiment of the present invention may be connected to one of the plurality of surgical operation arms, for example. Or the surgical robot 1000 includes a plurality of surgical execution components provided in the embodiments of the present invention, and the plurality of surgical operation arms are connected with the surgical execution components in a one-to-one correspondence. Taking the example that the surgical robot 1000 includes four surgical operation arms 1001/1002/1003/1004, different types of surgical instruments can be mounted on the four surgical operation arms 1001/1002/1003/1004, for example, surgical knives (such as electric knives or ultrasonic knives), endoscopes, hemostats and the like can be included, so as to meet the surgical requirements.
It should be noted that, without conflict, features of the various embodiments of the present invention may be combined to create new embodiments.
The foregoing is merely exemplary embodiments of the present invention and is not intended to limit the scope of the invention, which is defined by the appended claims.