CN-122008289-A - Surgical instrument switching system and switching method for humanoid robot

CN122008289ACN 122008289 ACN122008289 ACN 122008289ACN-122008289-A

Abstract

The application provides a surgical instrument switching system and a switching method for a humanoid robot. The system includes a plurality of surgical instruments, a robot, and a library of instruments. The robot comprises a mechanical arm, the mechanical arm comprises a connecting part, the connecting part is used for being detachably connected with a surgical instrument, the connecting part is provided with a touch switch, and the touch switch is used for responding to target operation aiming at the touch switch to enable the connecting part to be separated from the surgical instrument. The instrument library is used for storing a plurality of surgical instruments and comprises a first body and a second body, the second body is sleeved on the first body, an unloading mechanism is arranged on the lower portion of the first body and located on the second body, the unloading mechanism is provided with a target space for accommodating the connecting portion, the unloading mechanism is suitable for executing target operation on the touch switch when the connecting portion is located in the target space, the storage mechanism is arranged on the second body and is suitable for storing surgical instruments separated from the connecting portion, and the stored surgical instruments are mounted on the connecting portion.

Inventors

ZHAO JIANCHANG
Wei Shaoang
HAO YONGSHUAI
ZHANG BINGCONG
LI JINHUA
LIU XINGCHI
LV YIHANG
MA LIANBO
HE YUSHI
WEI PENGFEI
Shi Zitan

Assignees

天津大学医疗机器人与智能系统研究院

Dates

Publication Date: 20260512
Application Date: 20260402

Claims (10)

1. A surgical instrument switching system for a humanoid robot, the system comprising: A plurality of surgical instruments; a robot, comprising: The mechanical arm comprises a connecting part, the connecting part is suitable for being detachably connected with the surgical instrument, the connecting part is provided with a touch switch, and the touch switch is suitable for responding to the target operation of the touch switch to separate the connecting part from the surgical instrument; A library of instruments adapted to store a plurality of said surgical instruments, said library of instruments comprising: the first body and the second body are sleeved with the second body; An unloading mechanism arranged at the lower part of the first body and positioned at the lower part of the second body, wherein the unloading mechanism is provided with a target space for accommodating the connecting part, and the unloading mechanism is suitable for executing the target operation on the touch switch under the condition that the connecting part is positioned in the target space; and a storage mechanism provided to the second body, the storage mechanism being adapted to store surgical instruments that have been separated from the connection portion, and to mount the stored surgical instruments to the connection portion.
2. A surgical instrument switching system according to claim 1, wherein the storage mechanism includes a plurality of the storage mechanisms disposed at the second body at intervals; The second body is configured to be rotatable about the first body to adjust the different storage mechanisms to match the positions of the unloading mechanisms, respectively, by rotation of the second body.
3. The surgical instrument switching system of claim 1, wherein the surgical instrument comprises an instrument body and a connector coupled to the instrument body; the connector is adapted to cooperate with the connection portion to bring the connection portion and the surgical instrument into a locked state, and to disengage the surgical instrument from the connection portion after the target operation is performed with respect to the touch switch.
4. A surgical instrument switching system according to claim 3 wherein the connector is provided with a projection, the connector being provided with a recess cooperating with the projection, the projection being adapted to engage the recess under the influence of the self-gravity of the surgical instrument.
5. A surgical instrument switching system according to claim 4, wherein the storage mechanism includes: A first telescopic clamping part which is suitable for being extended in a direction away from the first body and clamping the surgical instrument which is separated from the connecting part under the condition that the connecting part is in a target space, and The clamped surgical instrument is contracted and released in a direction approaching the first body such that the protrusion of the connection member is inserted into the groove of the connection portion located in the target space by gravity.
6. The surgical instrument switching system of any one of claims 1 to 4, wherein the unloading mechanism comprises: The second clamping part is provided with two clamping arms, and the target space is formed between the two clamping arms; the sensing device is arranged on at least one clamping arm and is suitable for generating a target signal under the condition that the connecting part is detected to be in a target space; And the driving part is used for responding to the target signal and driving the two clamping arms to apply pressure to the touch switch so as to execute the target operation.
7. The surgical instrument switching system according to claim 1, wherein a surface of the first body on the same side as the unloading mechanism is provided with a reference mark; the mechanical arm further comprises a camera device, wherein the camera device is suitable for acquiring images of the reference mark in the process that the robot approaches the instrument library; and the controller is suitable for determining pose information of the mechanical arm relative to the instrument library based on the image, the reference mark and a preset space mapping relation among the mechanical arm.
8. A surgical instrument switching system according to claim 7, wherein the controller is further adapted to control the robotic arm to move the connection to the target space in accordance with the pose information.
9. A surgical instrument switching method for a humanoid robot, adapted for use in the surgical instrument switching system of any one of claims 1 to 8, the method comprising: in response to receiving a target instruction, controlling a connecting part at the tail end of the mechanical arm to move to a target space of an unloading mechanism of the instrument library; controlling the unloading mechanism to execute target operation on the touch switch of the connecting part so as to separate the connecting part from the first surgical instrument, and controlling the first storage mechanism which does not store the surgical instrument to store the first surgical instrument; Controlling rotation of the second body relative to the first body and matching the position of the second storage mechanism having received the second surgical instrument with the position of the unloading mechanism, and And controlling the second storage mechanism to release the second surgical instrument so that the second surgical instrument is connected with the connecting part.
10. The surgical instrument switching method according to claim 9, wherein controlling the movement of the connection portion of the distal end of the mechanical arm to the target space of the unloading mechanism of the instrument library in response to receiving the target instruction includes: In response to receiving the target instruction, acquiring an image of the reference mark of the second body by using the camera device of the connecting part; Determining pose information of the connecting part relative to the instrument library based on a preset space mapping relation among the image, the reference mark and the connecting part; and controlling the connecting part to move to the target space according to the pose information.

Description

Surgical instrument switching system and switching method for humanoid robot Technical Field The application relates to the technical field of medical robots and automatic reloading, in particular to a surgical instrument switching system and a surgical instrument switching method for a humanoid robot. Background In the field of robotic-assisted surgery, surgical procedures often require multiple instruments to operate cooperatively, such as frequently switching between steps of tissue separation, electrocoagulation hemostasis, and suturing. Therefore, rapid, reliable and sterile replacement of instruments during surgery is becoming a clinical requirement, and the efficiency and stability of the instrument directly affect the smoothness, operation precision and overall safety of the surgical procedure. At present, the traditional surgical instrument switching mode mainly depends on manual operation, and the switching efficiency is low. Disclosure of Invention In view of the above, the present application provides a surgical instrument switching system and a switching method for a humanoid robot. An aspect of the application provides a surgical instrument switching system for a humanoid robot, the system comprising a plurality of surgical instruments, the robot comprising a mechanical arm, the mechanical arm comprising a connecting part, the connecting part being adapted to be detachably connected with the surgical instruments, the connecting part being provided with a touch switch, the touch switch being adapted to separate the connecting part from the surgical instruments in response to a target operation for the touch switch, an instrument library adapted to store the plurality of surgical instruments, the instrument library comprising a first body and a second body, the second body being sheathed on the first body, an unloading mechanism provided at a lower part of the first body at the second body, the unloading mechanism having a target space for accommodating the connecting part, the unloading mechanism being adapted to perform a target operation for the touch switch with the connecting part in the target space, a storage mechanism provided at the second body, the storage mechanism being adapted to receive the surgical instruments that have been separated from the connecting part, and to mount the received surgical instruments to the connecting part. According to the embodiment of the application, the storage mechanism comprises a plurality of storage mechanisms which are arranged on the second body at intervals, and the second body can rotate around the first body so as to adjust different storage mechanisms to be respectively matched with the positions of the unloading mechanisms through the rotation of the second body. According to an embodiment of the application, the surgical instrument comprises an instrument body and a connecting piece connected with the instrument body, wherein the connecting piece is suitable for being matched with the connecting part to enable the connecting part and the surgical instrument to be in a locking state, and the surgical instrument is separated from the connecting part after target operation is performed on the touch switch. According to an embodiment of the application, the connecting piece is provided with a protrusion, the connecting piece is provided with a groove cooperating with the protrusion, and the protrusion is adapted to be embedded into the groove under the effect of the self-gravity of the surgical instrument. According to an embodiment of the application, the storage mechanism comprises a telescopic first clamping part which is suitable for stretching out and clamping the surgical instrument separated from the connecting part in a direction far away from the first body under the condition that the connecting part is in the target space, and contracting and releasing the clamped surgical instrument in a direction close to the first body, so that the protruding part of the connecting piece is embedded into the groove of the connecting part in the target space under the action of gravity. According to the embodiment of the application, the unloading mechanism comprises a second clamping part, a sensing device and a driving part, wherein the second clamping part is provided with two clamping arms, a target space is formed between the two clamping arms, the sensing device is arranged on at least one clamping arm and is suitable for generating a target signal when the connecting part is detected to be in the target space, and the driving part is suitable for responding to the target signal to drive the two clamping arms to apply pressure to the touch switch so as to execute target operation. According to the embodiment of the application, the surface of the first body, which is on the same side as the unloading mechanism, is provided with a reference mark, the mechanical arm further comprises a camera device, the camera device is suitable for acquiring i