CN116584986A - Method of engaging a medical device cassette with a device manipulator - Google Patents

Abstract

The invention provides a method for jointing a medical instrument box and an instrument manipulator, which relates to the technical field of medical instruments, and comprises the following steps: the driving output member is driven by the actuating member; when the adapter is connected to the instrument manipulator, the drive output is depressed and has a tendency to rebound against the coupling in the adapter to prevent it from moving upward; controlling one or more actuating members to rotate along a first direction, so that the corresponding driving output member and the connecting member synchronously rotate; when the medical instrument cassette is connected to the adapter, the coupling receives pressure from the instrument input shaft in the medical instrument cassette, and the coupling disengages the rotational limit. The technical problems of long time spent for butt joint operation between parts and low joint efficiency caused by unrestricted movement ranges of an instrument manipulator, a medical instrument box and an adapter in the prior art are solved, and the technical effect of improving the joint efficiency is achieved.

Description

Method of engaging a medical device cassette with a device manipulator

technical field

The invention relates to the technical field of medical instruments, in particular to a method for joining a medical instrument box with an instrument manipulator.

Background technique

Minimally invasive surgery refers to a minimally invasive surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

To provide a sterile operating field during surgical procedures, sterile barriers may be placed between the non-sterile system and the sterile surgical field. Therefore, it is necessary to provide sterile connection points by means of sterile adapters. During a surgical procedure, surgical instruments are allowed to be removed or exchanged with other surgical instruments.

In some technologies, it is necessary to dock the instrument manipulator with the medical instrument box by means of an adapter. However, in the existing docking methods, due to the unrestricted range of motion of the aforementioned three, the docking operation takes a long time and the docking efficiency is low.

Contents of the invention

The purpose of the present invention is to provide a method for joining the medical instrument case with the instrument manipulator, so as to alleviate the unrestricted range of motion of the instrument manipulator, the medical instrument case and the adapter in the prior art, resulting in the cost of the docking operation. It takes a long time and the technical problem of low docking efficiency.

The present invention provides a method of engaging a medical device cassette with a device manipulator comprising the steps of: driving one or more drive outputs by corresponding actuators;

When the adapter is connected to the instrument manipulator, the drive output is depressed and has a tendency to rebound against the link in the adapter so that it cannot move upwards, and at the same time, triggers the adapter engagement procedure;

After the adapter engagement program is triggered, one or more of the actuators are controlled to rotate in the first direction, so that the corresponding drive output members and the coupling parts rotate synchronously until the coupling parts reach the maximum rotation angle Afterwards, it undergoes rotation limitation, and completes the docking operation between the drive output member and one end of the coupling member;

When the medical instrument box is connected to the adapter, the coupling part receives pressure from the input shaft of the instrument in the medical instrument box, and the coupling part breaks away from the rotation limit;

Controlling the actuating member to drive the drive output member and the coupling member to rotate synchronously until the docking operation between the instrument input shaft and the other end of the coupling member is completed;

Wherein, the rotation angle of the actuating member is larger than the maximum rotation angle of the coupling member.

Further, before the docking operation, it also includes the step of determining the initial zero position of the actuator:

controlling the actuator to rotate in a first direction, which will touch the first limit in the first direction, and the encoder records the first position of the first limit;

controlling the actuator to rotate in a second direction opposite to the first direction, it will touch the second limit in the second direction, and the encoder records the second position of the second limit ;

obtaining the initial zero position by obtaining an intermediate point between the first position and the second position;

After obtaining the initial zero position, controlling the actuator to move to the second position and stop;

After the adapter engaging procedure is triggered, the actuator is controlled to move from the second position.

Further, after the docking operation step of the drive output part and one end of the coupling part is completed, a step of confirming whether the docking is completed is also included:

controlling the actuator to rotate in the second direction until it moves to the second position;

The actuator is controlled to rotate in the first direction, and at the same time, it drives the drive output member and the coupling to rotate synchronously until the coupling reaches a maximum rotation angle and stops after passing through a rotation limit.

Further, the periphery of the drive output member is provided with a plurality of movable barriers that can rotate around the axis of the drive output shaft;

One of the plurality of movable barriers has the first limit and the second limit.

Further, the periphery of the drive output member is also fixedly provided with a fixed stopper;

When the actuating member touches the first limit in the first direction, if it continues to move in the first direction, it will make multiple movable barriers move synchronously, and make multiple The other of the movable barriers stops when it touches the fixed barrier.

Further, in the steps after the adapter engagement program is triggered:

During the synchronous rotation of the drive output member and the coupling member along the first direction, when the limiting notch on the coupling member moves to align with the stopper on the receiving hole of the coupling member, the The coupling part moves up under the rebound action of the drive output part to realize the rotation limit.

Further, when the medical instrument box is connected to the adapter, the first conductive part on the medical instrument box is in communication with the second conductive part on the adapter.

Further, the first conductive part is a spring probe provided on the medical device box;

The second conductive part is a conductive sheet provided on the adapter.

Further, when there are multiple actuators, the connecting wires of the multiple actuators are connected through the same circuit board and connected to the control component.

Further, housings are provided on the outer sides of the plurality of actuators;

A heat dissipation fan is provided under the actuator, and a heat dissipation hole is provided in the housing for heat discharge.

The method for joining the medical instrument box with the instrument manipulator provided by the present invention has at least the following

Beneficial effect:

When the adapter is connected to the instrument manipulator, the drive output is pressed down and has a tendency to spring back against the link in the adapter until it cannot move upwards, at which point the actuating member can drive the drive output to rotate, thereby driving the link During the docking process between the adapter and the instrument manipulator, the actuating member rotates along the first direction, so that the corresponding drive output member and the connecting member rotate synchronously, until the connecting member reaches the maximum rotation angle and experiences the rotation limit, and completes The docking operation between the drive output part and one end of the coupling part; since the rotation angle of the actuator part is greater than the maximum rotation angle of the coupling part, that is, the docking range of the adapter is smaller than the movement range of the actuator part, it can be rotated in the first direction during the connection part The docking is completed in the process, shortening the docking time and improving the docking efficiency.

When the medical device box is connected to the adapter, the coupling part receives the pressure from the input shaft of the instrument in the medical device box, and the coupling part breaks away from the rotation limit. At this time, the rotation limit has no limit on the range of motion of the input shaft of the device. During the synchronous rotation of the drive output part and the coupling part driven by the actuator, the range of motion of the instrument input shaft is affected by the motion range of the device's own joints and the motion range of the actuator, and the device input can be completed within the intersection range of the two motion ranges. The docking operation between the shaft and the other end of the coupling, in this process, avoids the reduction of the range of motion caused by the superimposition of the range of motion of the three parts of the instrument manipulator, the adapter, and the medical instrument box, or the complexity of the joint, and improves the input shaft of the instrument. Range of motion, articulation efficiency and reliability.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a partial structural schematic diagram of a medical device provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the disassembly of the instrument manipulator, the adapter and the medical instrument box;

Figure 3 is one of the disassembled schematic diagrams of the instrument manipulator and the adapter;

Figure 4 is the second schematic diagram of disassembly of the instrument manipulator and adapter;

Fig. 5 is a schematic diagram of a connection structure between a single actuator, a drive output, and a rotating component;

Fig. 6 is a top view of the connecting structure of a single actuator, a drive output, and a rotating component;

Fig. 7 is a sectional view along A-A place shown in Fig. 6;

Fig. 8 is a structural schematic diagram of a part of the housing not shown in the instrument manipulator;

Fig. 9 is a schematic diagram of the movement relationship between the first movable barrier, the second movable barrier, the third movable barrier and the fixed barrier;

Figure 10 is a schematic diagram of the back structure of the adapter;

Figure 11 is a bottom view of the adapter;

Fig. 12 is a sectional view along B-B place shown in Fig. 11;

Figure 13 is a schematic structural view of the medical device box;

Fig. 14 is a flow chart of the first implementation of the method for engaging the medical instrument case with the instrument manipulator according to the embodiment of the present invention;

Fig. 15 is a flow chart of the second implementation of the method for joining the medical device box with the device manipulator according to the embodiment of the present invention;

Fig. 16 is a flow chart of the third implementation of the method for engaging the medical instrument box with the instrument manipulator provided by the embodiment of the present invention;

FIG. 17 is a flow chart of the steps of confirming whether the docking is completed in FIG. 16 .

icon:

10-instrument manipulator; 11-housing; 12-actuating member; 13-drive output member; 14-rotating part; 15-spring; 16-limiting sleeve; 111-fixed barrier; ; 132-guiding post; 141-guiding hole; 142-the first movable barrier; 161-the second movable barrier; 162-the third movable barrier;

20-adapter; 21-connecting plate; 22-connecting piece; 211-blocking object; 212-upper connecting plate; 213-lower connecting plate; Gap; 223-second butt post;

30-medical device box; 31-rotating piece; 311-the second docking hole.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the parts are absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Some embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Fig. 1 shows a kind of medical instrument, and the shaft part of this medical instrument is not shown, and it comprises instrument manipulator 10, adapter 20 and medical instrument box 30 successively from right to left, wherein, instrument manipulator 10 and medical instrument The two opposite surfaces of the box 30 are respectively in close contact with the two surfaces of the adapter 20 to achieve engagement, so as to realize the axial transmission of force, that is, the torque output by the instrument manipulator 10 is transmitted to the medical instrument box 30 through the adapter 20 , and the instrument input shaft on the medical instrument box 30 drives the joint axis of the instrument itself to realize the movement of multiple degrees of freedom.

In some embodiments, the input shaft of the instrument is connected to the joint shaft of the instrument itself through a steel wire, and the joint shaft of the instrument itself is connected to the end effector, and the movement of the joint shaft of the instrument itself drives the end effector to perform actions such as rotation, pitching, or opening and closing. Optionally, the end effector may be any one of a needle driver, a cautery device, an ultrasonic knife or an ultrasonic probe.

Figure 2 shows that before the docking operation, the adapter 20 needs to be detachably connected to the instrument manipulator 10 in the direction of the arrow through the buckle assembly and the fitting structure of the slot, and then the medical instrument box 30 is also passed in the direction of the arrow. The buckle component and the slot matching structure are detachably connected to the adapter 20 to realize the mechanical connection between the three, and after the mechanical connection is completed, corresponding docking operations are performed in sequence.

In this embodiment, in order to facilitate the installation between the parts, the corresponding positions above and below the adapter 20 are respectively provided with card slots. The buckle assembly that the snap fit is realized by the snap slot, of course, any form of buckle assembly that can realize snap fit is within the protection scope of the present invention.

The specific docking operation between the instrument manipulator 10 and the adapter 20 will be described in detail below.

3 and 5, the instrument manipulator 10 includes a housing 11 and a plurality of actuators 12 installed in the housing 11, the output end of each actuator 12 is connected to a drive output 13, the drive output Two sets of first butt joint columns 131 protrude from the top surface of 13, and the two sets of first butt joint columns 131 are arranged facing each other.

3 and 4, the adapter 20 includes a connecting plate 21, a connecting piece 22 that can move relative to the connecting plate 21 and can rotate relative to the connecting plate 21. The end of the connecting piece 22 facing the drive output member 13 is provided with a first docking column. 131 matched with the first butt holes 221, wherein the number of the first butt holes 221 is also two and arranged at 180 degrees.

In other embodiments, the top surface of the driving output member 13 may be configured as a docking hole, and correspondingly, the coupling member 22 protrudes toward one end of the driving output member 13 to have a docking column. As a variation, the number of butt posts and butt holes is not limited to two, but may also be three, four or more.

In this embodiment, four actuators 12 are provided, and the four actuators 12 are arranged in a square or a rectangle; optionally, the actuator 12 may be a motor. In an initial state, the first abutting column 131 on the top surface of the driving output member 13 is higher than the top surface of the casing 11 .

As shown in Figure 5, the drive output member 13 is set in the shape of a disk; the drive output member 13 is also provided with a rotating part 14, which is fixedly sleeved on the output shaft of the actuating member 12, and can be actuated The output shaft of part 12 rotates synchronously.

6 and 7, the side of the drive output member 13 facing away from the first docking post 131 is provided with a guide post 132. Correspondingly, the rotating part 14 is provided with a guide hole 141 for passing through the guide post 132. The guide hole 141 The length of the guide post 132 is longer than that of the guide post 132, so that the guide post 132 can slide up and down in the guide hole 141, thereby limiting the movement of the drive output member 13. Wherein, the guide posts 132 can be provided in one or more groups. When the guide posts 132 are provided in multiple groups, the guide holes 141 are also provided in multiples, and are arranged in one-to-one correspondence with the guide posts 132 .

Please continue to refer to FIG. 7, an elastic member is provided between the drive output member 13 and the rotating member 14, and the elastic member provides support for the drive output member 13 in the initial state. When the drive output member 13 is pressed downward, The elastic member is compressed, so that the drive output member 13 moves downward toward the direction of the rotating part 14. When the external force is removed, the elastic member returns to the original state from the compressed state, and at the same time pushes the drive output member 13 upward to move away from the rotating part 14. direction up.

Exemplarily, the elastic member may be a helical spring 15, and may also be other components capable of producing elastic deformation. In some embodiments, the lower end of the spring 15 is fixedly sleeved on the output shaft of the actuator 12 , and the upper end of the spring 15 is pressed against the lower surface of the driving output member 13 .

In this embodiment, the lower surface of the drive output member 13 is provided with a groove for accommodating the upper end of the spring 15. The groove not only realizes the accommodation function, but also plays a role of limiting the elastic deformation direction of the spring 15. When the drive output member 13 is subjected to a downward pressing force, the spring 15 can be compressed along its center line all the time, so that the elastic support force received by the drive output member 13 when it is pressed down or moved up More uniform, able to move down or up relatively smoothly. Specifically, the upper end of the spring 15 is disposed at the central area of the driving output member 13 , that is, the groove is opened at the central area of the driving output member 13 .

6 to 8, the outer peripheral side of the rotating part 14 is also provided with a limit sleeve 16, the rotating part 14 and the surface of the limit sleeve 16 are opposite, the former is provided with a first movable stopper 142, and the latter is provided with a second movable stopper 142. The movable barrier 161, wherein the second movable barrier 161 is arranged on the inner peripheral surface of the limiting sleeve 16, and the outer peripheral surface of the limiting sleeve 16 protrudes in the direction close to the top surface of the housing 11 to provide a third movable barrier 162, The third movable barrier 162 is opposite to the second movable barrier 161 ; the top surface of the casing 11 is also provided with a fixed barrier 111 .

During specific implementation, as shown in FIG. 9 , in the process from the leftmost figure to the middle figure, when the rotating member 14 rotates clockwise nearly 360 degrees, the first movable stopper 142 will meet the second movable stopper 142 on the limit sleeve 16 . The barrier 161 collides; the rotation of the rotating part 14 will push the limit sleeve 16 to rotate until the third movable barrier 162 collides with the fixed barrier 111 and stops rotating.

It should be noted that by properly selecting the position of the fixed barrier 111 and removing the barrier occupying a certain space, the movement range of the rotating component 14 can reach nearly 720 degrees.

10 to 12, the connecting plate 21 includes an upper connecting plate 212 and a lower connecting plate 213 which can be detachably connected. The upper connecting plate 212 and the lower connecting plate 213 are provided with accommodating holes passing through both, that is, connecting member accommodating holes. To install the connecting piece 22; the connecting piece 22 can be a wheel-shaped structure, an activity space is provided between the upper wheel and the lower wheel of the wheel-shaped structure, and the receiving hole is provided with an annular boss 214 at the lower connecting plate 213, and the annular boss 214 can slide up and down in the movable space, so that the coupling part 22 can move up and down.

As shown in Figure 10, the bottom surface of the annular boss 214 is protrudingly provided with a blocking object 211, the bottom surface of the blocking object 211 can be an inclined plane, or a concave arc or a convex arc surface. Two sets of limiting notches 222 are arranged on the flange. When the limiting notches 222 are aligned with the blocking object 211 and locked to be rotated, the limiting notch 222 is dislocated from the blocking object 211 to release the rotation restriction.

In this embodiment, the blocking objects 211 are arranged in two groups, and the two groups of blocking objects 211 are arranged symmetrically about the center. At this time, the angle range of the locking member 22 is 0-180° when the coupling member 22 rotates clockwise to the maximum angle. This range of angles can shorten the joining time; optionally, the blocking objects 211 can also be set in four groups, and the four groups of blocking objects 211 are arranged symmetrically to the center. At this time, the coupling 22 rotates clockwise to the maximum angle to realize locking The angle range is 0~90°, which can further shorten the bonding time.

It should be noted that, in the locked state, the rotation of the drive output member 13 cannot continue to drive the coupling member 22 to rotate clockwise, but it can rotate counterclockwise; at the same time, while the lock is realized, or before the lock is realized, the drive output One end of the connecting piece 13 and the connecting piece 22 realizes a docking operation, that is, the first docking post 131 is inserted into the first docking hole 221 .

The specific operation of engaging the instrument manipulator 10 with the adapter 20 has been described above, and the docking operation between the adapter 20 and the medical instrument box 30 will be described next.

As shown in FIG. 3 , two sets of second butt joint posts 223 protrude from the upper surface of the coupling member 22 , and the two sets of second butt joint posts 223 are arranged facing each other.

As shown in Figure 13, the medical instrument box 30 is provided with four instrument input shafts (not shown in the accompanying drawings), and the positions of the four instrument input shafts are set in one-to-one correspondence with the four sets of adapters 20 connectors 22; the bottom of the instrument input shaft The end is fixedly connected with a rotating piece 31 , and the rotating piece 31 is provided with a second docking hole 311 matching with the second docking column 223 .

In other embodiments, the second docking post 223 provided on the upper surface of the coupling member 22 may be configured as a docking hole, and correspondingly, the second docking hole 311 on the rotating piece 31 may be configured as a docking post.

Please continue to refer to FIG. 13 , the second docking hole 311 on the rotating piece 31 can be an oval hole or a U-shaped hole, so that the second docking post 223 can be easily inserted into the second docking hole 311 to realize the docking operation.

On the basis of the above-mentioned mechanical connection, when the adapter 20 is connected to the instrument manipulator 10, the switch on the housing 11 can be triggered to start the adapter 20 engagement procedure; when the medical instrument box 30 is connected to the adapter 20, the medical instrument The first conductive part on the box 30 realizes communication connection with the second conductive part on the adapter 20; Optionally, the first conductive part is a spring 15 probe located on the medical device box 30; the second conductive part is provided on the Conductive tab on adapter 20.

In this embodiment, there are multiple actuators 12, and the connecting wires of multiple actuators 12 are connected through the same circuit board and connected to the control component. Optionally, the control component can be a controller or a control board. The type can be selected or obtained by those skilled in the art.

Further, a cooling fan is provided under the actuator 12, and one or more cooling holes are provided on the housing 11 to facilitate the discharge of heat and play the role of heat dissipation, while ensuring that the actuator 12 will not be overheated due to local temperature. High makes its work unstable.

As shown in FIG. 14 , this embodiment provides a method for joining the medical instrument case 30 with the instrument manipulator 10, including the following steps:

S101, when the adapter 20 is connected to the instrument manipulator 10, the drive output member 13 is pressed down and has a rebound tendency to press the coupling member 22 in the adapter 20 until it cannot move up, and at the same time, trigger the adapter 20 engagement procedure;

S102, after the adapter 20 engagement program is triggered, control one or more actuators 12 to rotate in the first direction (such as clockwise), so that the corresponding drive output member 13 and the coupling 22 rotate synchronously until the coupling 22 reaches the maximum After the rotation angle, the rotation limit is experienced, and the docking operation of the drive output member 13 and one end of the coupling member 22 is completed;

S103, when the medical instrument case 30 is connected to the adapter 20, the coupling part 22 receives the pressure from the input shaft of the instrument in the medical instrument case 30, and the coupling part 22 breaks away from the rotation limit;

S104, controlling the actuator 12 to drive the drive output 13 and the coupling 22 to rotate synchronously until the docking operation between the instrument input shaft and the other end of the coupling 22 is completed;

Wherein, the rotation angle of the actuating member 12 is greater than the maximum rotation angle of the coupling member 22 .

Through the foregoing settings, on the one hand, since the rotation angle of the actuator 12 is greater than the maximum rotation angle of the coupling 22, that is, the docking range of the adapter 20 is smaller than the movement range of the actuator 12, the coupling 22 can be rotated clockwise in the process of The docking is completed in the process, shortening the docking time and improving the docking efficiency. On the other hand, the range of motion of the input shaft of the instrument is affected by the range of motion of the joints of the device itself and the range of motion of the actuator 12, and the docking operation between the input shaft of the instrument and the other end of the coupling 22 can be completed within the intersection range of the two ranges of motion. In this process, the reduction of the range of motion caused by the superimposition of the range of motion of the instrument manipulator 10, the adapter 20 and the medical instrument box 30, or the complexity of the joint is avoided, and the range of motion of the input shaft of the instrument, the efficiency and reliability of the joint are improved. sex.

In step S101, when the adapter 20 is connected to the instrument manipulator 10, that is, after the connecting plate 21 and the housing 11 are detachably connected through a buckle assembly and a slot fit structure, the drive output member 13 is received from the adapter 20. The downward pressing force of the upper link 22 will move down and press down the spring 15. At this time, the drive output 13 has a tendency to rebound and press the link 22 in the adapter 20 until it cannot move up. At the same time, the adapter 20 engagement procedure can be triggered by a switch provided on the housing 11 .

In step S102, after the adapter 20 engagement procedure is triggered, the corresponding actuating member 12 rotates in the clockwise direction, so that the corresponding drive output member 13 and the connecting member 22 rotate synchronously until the bottom flange of the connecting member 22 When the two groups of limit gaps 222 are aligned with the corresponding stoppers 211 to achieve clamping, the rotation of the coupling 22 is limited, that is, the coupling 22 experiences a rotation limit after reaching the maximum rotation angle. In this embodiment, due to the limited The notches 222 are set in two groups. Therefore, the maximum rotation angle of the coupling member 22 is between 0° and 180°. During this process, the docking operation between the first docking post 131 and the first docking hole 221 is completed.

In step S103, when the medical device box 30 is connected to the adapter 20, the rotating piece 31 at the lower end of the input shaft of the device will press down on the connecting piece 22, so that the connecting piece 22 will slide down and get out of the limit position. At this time, the limit notch 222 Disengaged from the blocking object 211, therefore, the rotation of the coupling 22 will no longer be controlled;

In step S104, the actuator 12 is controlled to drive the drive output 13 and the coupling 22 to rotate synchronously. At this time, since the input shaft of the instrument is connected to the joint axis of the instrument itself, the rotation range of the input shaft of the instrument is limited by the joint axis of the instrument itself on the one hand. Limitation of the range of motion, on the other hand, the input shaft of the instrument is indirectly driven by the actuator 12, therefore, the range of motion of the input shaft of the instrument is limited by the range of motion of the instrument's own articulation and the range of motion of the drive output 13 (ie, the range of motion of the actuator 12 ) influence, the docking operation of the instrument input shaft and the other end of the coupling 22 can be completed within the intersection range of the range of motion of the two.

As shown in FIG. 15, before the docking operation, a step of determining the initial zero position of the actuator 12 is also included:

Control the actuator 12 to rotate in the first direction, which will touch the first limit in the first direction, and the encoder records the first position of the first limit;

Control the actuator 12 to rotate in a second direction opposite to the first direction, and it will touch the second limit in the second direction, and the encoder records the second position of the second limit;

Obtain the initial zero position by obtaining the intermediate point between the first position and the second position;

After obtaining the initial zero position, control the actuator 12 to move to the second position and stop;

After the engagement procedure of the adapter 20 is triggered, the actuator 12 is controlled to move from the second position.

Specifically, control the actuator 12 to rotate clockwise, it will touch the first limit in the clockwise direction, and the encoder records the first position of the first limit; control the actuator 12 to rotate counterclockwise, it will touch the first limit in the clockwise direction; The counterclockwise direction will touch the second limit position, and the encoder will record the second position of the second limit position.

Further, referring to FIG. 16 and FIG. 17 , after the docking operation step of the drive output member 13 and one end of the coupling member 22 is completed, a step of confirming whether the docking is completed is also included, specifically controlling the actuating member 12 to rotate counterclockwise until it Move to the second position; control the actuating part 12 to rotate clockwise, and drive the drive output part 13 and the coupling part 22 to rotate synchronously while rotating, until the coupling part 22 reaches the maximum rotation angle and stops after passing through the rotation limit.

Based on the above, a specific method for joining the medical instrument box 30 with the instrument manipulator 10 is as follows:

The adapter 20 is connected to the instrument manipulator 10 through a buckle assembly and a slot structure;

The motor moves clockwise in the initial state (any position) until it touches the first limit (first position), the encoder records the first position, and then moves counterclockwise from the first position until it touches the second limit on the other side. Limit (second position), the encoder records the second position, and calculates the intermediate point between the first position and the second position, which is the initial zero position of the motor;

After the motor finds the initial zero position, it moves to the second position and stops;

After the adapter 20 engagement program is triggered, the motor starts to move from the second position, driving the drive output part 13 and the rotating part 14 to rotate, the drive output part 13 is pressed against the coupling part 22 under the action of the spring 15, and the connection between the drive output part 13 and the coupling part 22 There is friction between them, and the coupling part 22 rotates accordingly under the action of the friction force. When the limit notch 222 of the coupling part 22 moves to the stopper 211 of the adapter 20, the coupling part 22 acts on the spring 15 under the driving output part 13 Move up and down to realize the locking of the connecting piece 22 and the blocking object 211, and realize the docking within 0-180°;

Since the docking has been completed in the previous step, the motor rotates counterclockwise, which will drive the drive output member 13 and the coupling member 22 to rotate counterclockwise together until the actuator 12 moves to the second position;

The motor drives the drive output part 13 and the coupling part 22 to rotate clockwise. If it rotates 150°, it will touch the blocking object 211 on the adapter 20 and be limited to stop, and the docking operation between the adapter 20 and the instrument manipulator 10 is completed;

The adapter 20 and the medical device box 30 are connected through another buckle assembly and a slot structure. At this time, the rotating piece 31 presses down on the coupling piece 22, and the coupling piece 22 is pushed out downward. At this time, the limit on the coupling piece 22 The position notch 222 is completely separated from the limit of the blocking object 211, and the blocking object 211 no longer plays a role in the rotation of the coupling member 22;

The motor drives the drive output part 13 and the coupling part 22 to rotate clockwise at the same time, and within the intersection range of the joints of the instrument itself and the movement of the actuating part 12, the second butt joint post 223 on the coupling part 22 and the second butt joint post 223 on the rotating piece 31 The second docking hole 311 realizes docking.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. A method for engaging a medical instrument case with an instrument manipulator, comprising the following steps: one or more drive outputs are driven by corresponding actuators; When the adapter is connected to the instrument manipulator, the drive output is depressed and has a tendency to rebound against the link in the adapter so that it cannot move upwards, and at the same time, triggers the adapter engagement procedure; After the adapter engagement program is triggered, one or more of the actuators are controlled to rotate in the first direction, so that the corresponding drive output members and the coupling parts rotate synchronously until the coupling parts reach the maximum rotation angle Afterwards, it undergoes rotation limitation, and completes the docking operation between the drive output member and one end of the coupling member; When the medical instrument box is connected to the adapter, the coupling part receives pressure from the input shaft of the instrument in the medical instrument box, and the coupling part breaks away from the rotation limit; controlling the actuating member to drive the drive output member and the coupling member to rotate synchronously until the docking operation between the instrument input shaft and the other end of the coupling member is completed; Wherein, the rotation angle of the actuating member is larger than the maximum rotation angle of the coupling member. 2. The method of claim 1, further comprising the step of determining an initial zero position of the actuator before the docking operation: controlling the actuator to rotate in a first direction, which will touch the first limit in the first direction, and the encoder records the first position of the first limit; Controlling the actuator to rotate in a second direction opposite to the first direction, it will touch the second limit position in the second direction, and the encoder records the second position of the second limit position ; obtaining the initial zero position by obtaining an intermediate point between the first position and the second position; After obtaining the initial zero position, controlling the actuator to move to the second position and stop; After the adapter engaging procedure is triggered, the actuator is controlled to move from the second position. 3. The method according to claim 2, characterized in that, after the docking operation step of the drive output member and one end of the coupling member is completed, further comprising the step of confirming whether the docking is completed: controlling the actuator to rotate in the second direction until it moves to the second position; The actuator is controlled to rotate in the first direction, and at the same time, it drives the drive output member and the coupling to rotate synchronously until the coupling reaches a maximum rotation angle and stops after passing through a rotation limit. 4. The method according to claim 2, wherein the periphery of the drive output member is provided with a plurality of movable barriers that can rotate around the axis of the drive output shaft; One of the plurality of movable barriers has the first limit and the second limit. 5. The method according to claim 4, characterized in that, the periphery of the drive output member is also fixedly provided with a fixed stopper; When the actuating member touches the first limit in the first direction, if it continues to move in the first direction, it will make multiple movable barriers move synchronously, and make multiple The other of the movable barriers stops when it touches the fixed barrier. 6. The method according to claim 1, characterized in that, in the step after the adapter engagement program is triggered: During the synchronous rotation of the drive output member and the coupling member along the first direction, when the limiting notch on the coupling member moves to align with the stopper on the receiving hole of the coupling member, the The coupling part moves up under the rebound action of the drive output part to realize the rotation limit. 7. The method according to any one of claims 1-6, wherein when the medical instrument box is connected to the adapter, the first conductive part on the medical instrument box and the second conductive part on the adapter The second conductive part realizes the communication connection. 8. The method according to claim 7, wherein the first conductive part is a spring probe provided on the medical device box; The second conductive part is a conductive sheet provided on the adapter. 9. The method according to any one of claims 1-6, wherein when there are multiple actuators, the connecting wires of the multiple actuators are connected through the same circuit board and connected to the control part. 10. The method according to claim 9, characterized in that, the outer sides of a plurality of said actuators are provided with housings; A heat dissipation fan is provided under the actuator, and a heat dissipation hole is provided in the housing for heat discharge.