CN116616857A - Tool components, actuators and surgical robotic systems - Google Patents

Abstract

The present disclosure relates to a tool assembly, an actuator and a surgical robot system. The tool assembly is intended to be connected to and driven by the power unit. The tool assembly includes a post assembly and a locking assembly. The connecting rod assembly has a distal end and a proximal end located at two ends, the distal end is used to connect the working part, and the proximal end is used to engage the power output structure of the power part; The axial force and torque can be transmitted in the state; the locking assembly is arranged at the proximal end of the connecting rod assembly, and the locking assembly is used to connect to the power part and keep the proximal end in engagement with the power output structure. The tool assembly provided by the present disclosure includes a post assembly that is retractable so that the post assembly can be shortened without moving the patient and/or the robot arm, allowing the locking assembly and the proximal end of the post assembly to move from Axial movement can be separated from the power part.

Description

Tool components, actuators and surgical robotic systems

technical field

The present disclosure relates to the technical field of orthopedic surgical tools for robots, in particular to a tool assembly, an actuator and a surgical robot system.

Background technique

Acetabular Grinding Kit Power Section and Forming Tool. The forming tool is a file cup with a hemispherical head and a rod assembly connecting the file cup. The distal end of the post assembly is detachably connected to the file cup. The proximal end of the post assembly is connected to the power part. In traditional surgery, when the doctor manually holds the acetabular grinding tool to ream the acetabulum, it is necessary to apply pressure along the axial direction of the rod assembly, so that the file cup driven by the power unit can be fed in the axial direction while rotating. During the file grinding process or when the file is finished, the doctor can withdraw the extension rod assembly and the file cup backward in the axial direction according to needs, so that the file cup is separated from the human acetabulum.

In acetabular plastic surgery using navigation technology and robotic assistance, the acetabular grinding tool is held by the robotic arm, and the doctor pushes the acetabular reaming tool or the robotic arm along the axis of the post assembly to drive the file cup into the acetabulum. Give. The robot arm can be set to "line mode". In "straight line mode", the distal axis of the robot arm can move along the set straight line with low damping, and the damping in the direction perpendicular to the straight line is relatively large. In this way, the stub shaft of the robot arm can be manually dragged back and forth in a straight line without deviating from the axis or turning over. In order to obtain the feeding depth of the file cup, the adapter rod assembly is generally kept fixed in the axial direction with the robot arm, so that the system can obtain corresponding information from the robot arm control system, or from the tracker fixed to the robot arm. Displacement information of the distal axis of the robot arm.

However, the manner in which the post assembly remains axially fixed to the robotic arm may cause surgical inconvenience in some cases. For example, in the process of reaming the acetabulum, the robot arm fails, and it is necessary to replace the robot arm to complete the rasp. If the failure of the robot arm causes the robot arm to be unable to move, because the post assembly is firmly connected to the robot arm, it is difficult for the file cup embedded in the acetabulum to withdraw from the acetabulum backward from the axial direction; in addition, in order to reduce the rotation time of the post assembly There is generally a section of shaft-hole matching structure between the post assembly and the rotating output structure of the power part, which makes the proximal end of the post assembly unable to move directly from the radial direction to break away from the contact with the robot arm. connect. This results in the possibility of moving the patient, the operating table, or the robotic arm as a whole to free the file cup from the body.

Contents of the invention

In order to solve the above technical problems or at least partly solve the above technical problems, the present disclosure provides a tool assembly, an actuator and a surgical robot system.

In a first aspect, a tool assembly is provided for being connected to and driven by a power part. The tool assembly includes a post assembly and a locking assembly. The connecting rod assembly has a distal end and a proximal end located at two ends, the distal end is used to connect the working part, and the proximal end is used to engage the power output structure of the power part; The axial force and torque can be transmitted in the state; the locking assembly is arranged at the proximal end of the connecting rod assembly, and the locking assembly is used to connect to the power part and keep the proximal end in engagement with the power output structure.

In a first possible implementation manner, the post assembly includes a driving shaft and a driven shaft arranged coaxially, and the driving shaft and the driven shaft can move relative to each other in the axial direction.

With reference to the above possible implementation manners, in a second possible implementation manner, the driving shaft is used to transmit the torque of the power output structure to the driven shaft.

In combination with the above possible implementation manners, in a third possible implementation manner, the connecting rod assembly is configured such that the driven shaft and the driving shaft are coaxially sleeved and connected; when the tool assembly is installed on the power part, the driven shaft can be The power take-off structure acts axially to form and maintain the post assembly in an extended state.

In combination with the above possible implementation manners, in a fourth possible implementation manner, an elastic member is provided between the driven shaft and the driving shaft, and the elastic member is used to axially compress the driven shaft when the tool assembly is installed on the power part to the power take-off structure.

In combination with the above possible implementations, in the fifth possible implementation, the driving shaft is a sleeve structure and is sheathed outside the driven shaft, the wall of the sleeve structure is provided with a long groove extending in the axial direction, and the driven shaft A radial pin is provided, and the radial pin extends out of the sleeve structure along the long groove and acts on the elastic member.

With reference to the above possible implementation manners, in a sixth possible implementation manner, the drive shaft is provided with a structure for radially positioning with the power output structure.

With reference to the above possible implementation manners, in a seventh possible implementation manner, the locking assembly is configured to have a predetermined axial movement stroke relative to the rod assembly.

With reference to the above possible implementation manners, in an eighth possible implementation manner, an axial pressing mechanism is provided between the driven shaft and the driving shaft to keep the extension rod assembly in an extended state.

In a second aspect, an end effector is provided, including a power part and a tool assembly. The power part is provided with a power output structure; the tool assembly is connected to the power part and driven by the power output structure; the tool assembly is any tool assembly described in the first aspect.

In a third aspect, a surgical robot system is provided, including a robot arm, an end effector, and a navigation system. The end effector is connected to the end of the robot arm; the navigation system is used to obtain the orientation information of the end effector and control the movement of the robot arm; wherein, the end effector is the end effector described in the second aspect.

Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages: the tool assembly includes the post assembly, and the post assembly is retractable, so the post assembly can be shortened without moving the patient and/or the robot arm; The rod assembly enables the locking assembly and the proximal end of the connecting rod assembly to disengage from the power part through axial movement.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

Figure 1 shows an end effector comprising a power unit and a tool assembly;

Figure 2 is an axonometric view when the tool assembly is not connected to the power unit;

Fig. 3 is a sectional view when the tool assembly is connected to the power unit;

Fig. 4 is a sectional view when the tool assembly and the power unit are disassembled;

Fig. 5 is the structural representation of driving shaft;

Figure 6 is an exploded view of the tool assembly and the power unit;

7 is a schematic diagram of a torque transmission structure in another embodiment of the present disclosure;

Fig. 8 is a schematic diagram of a torque transmission structure in another embodiment of the present disclosure;

9 is a schematic diagram of a torque transmission structure in another embodiment of the present disclosure;

Fig. 10 is a schematic structural diagram of a tool assembly according to another embodiment of the present disclosure;

Fig. 11 is a schematic diagram of a surgical robot system provided by the present disclosure.

Reference signs:

10-first paragraph, 20-second paragraph;

100-power unit, 110-power output structure, 111-chute, 112, 112a, 112b-positioning shaft, 113-transmission pin; 120-robot arm interface;

200-connector rod assembly;

210b, 210-driving shaft, 211-near end, 212-torque receiving part, 213-positioning hole, 214-keyway, 215-flange, 216-first chute, 217-second chute, 218-ring Groove, 219-cylinder;

220a, 220b, 220-driven shaft, 221-distal end;

300-locking assembly, 310-housing, 311-accommodating cavity, 312-first limiting part, 313-second limiting part;

320-pin, 330-the first spring, 340-the first retaining ring, 350-elastic snap ring, 360-the second retaining ring;

400-key;

510-pin, 520-the second spring, 530-sleeve, 540-elastic snap ring, 550-the third spring retaining ring;

6000-Joint forming actuator, 9000-Navigation system, 9100-Robot arm, 9200-Control system.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.

The present disclosure provides an actuator and tool assembly. The actuator can be attached to the end of the robotic arm of the surgical system, which assists in performing the procedure. The tool assembly is used to be connected to the power part of the actuator and driven to rotate by the power part. The tool assembly includes a post assembly and a locking assembly. The post assembly has a distal end and a proximal end at two ends. The distal end is used to connect the working part, such as the acetabular file cup. The proximal end is used to engage the power output structure of the power part, thereby driving the working part to rotate. Wherein, the rod assembly is retractable, and the rod assembly can transmit axial force and torque when kept in an extended state, so that the working part such as the acetabular rasp cup can cut the bone. The locking assembly is arranged at the proximal end of the rod assembly, and the locking assembly is used to connect to the power part and keep the proximal end in engagement with the power output structure. The post assembly is telescoping so that the post assembly can be shortened without moving the patient and/or the robot arm, allowing the locking assembly and the proximal end of the post assembly to disengage from the power section from axial movement. In this way, the connecting rod assembly can move radially, so that its axial direction is no longer aligned with the power part, so that the tool assembly can be retracted axially, and finally the working part can be pulled out of the patient's body.

Refer to Figures 1 to 6. Figure 1 shows an end effector including a power section and a tool assembly. Fig. 2 is an isometric view when the tool assembly is not connected to the power unit. Fig. 3 is a sectional view when the tool assembly is connected to the power part.

Fig. 4 is a cross-sectional view when the tool assembly and the power unit are disassembled. Fig. 5 is a structural schematic diagram of the driving shaft. Figure 6 is an exploded view of the tool assembly and power section.

As shown in FIGS. 1 and 2 , the tool assembly includes a post assembly 200 and a locking assembly 300 . The post assembly 200 has a predetermined length, one end is connected with a locking assembly 300, and the other end is used for connecting with a working part (not shown) such as an acetabular file cup. The locking assembly 300 is used to connect the connecting rod assembly 200 to the power part 100 of the actuator, so as to maintain engagement between the power output structure 110 of the power part 100 and the connecting rod assembly 200 to transmit rotational movement and axial thrust.

Further reference is made to FIGS. 3 to 6 . The post assembly 200 includes a driving shaft 210 , a driven shaft 220 and a key 400 . In addition, the pin 510, the second spring 520, the sleeve 530, the elastic snap ring 540 and the third spring retaining ring 550 form an axial pressing mechanism.

The drive shaft 210 is a hollow shaft. The driving shaft 210 includes a shaft body 219 , a torque receiving portion 212 , a positioning hole 213 , a keyway 214 , a flange 215 , a first sliding groove 216 , a second sliding groove 217 and a ring groove 218 . The ring groove 218 is used for installing the elastic snap ring 540 . The shaft body 219 includes a first shaft section and a second shaft section, the diameter of the first shaft section is smaller than the diameter of the second shaft section. A radially protruding flange 215 is provided at the junction of the first shaft section and the second shaft section. An annular groove 218 is provided on the peripheral surface of the end of the first shaft segment. The second shaft segment terminates in a torque receiver 212 . The torque receiving portion 212 is an array of protrusions arranged at intervals around the shaft center on the end surface of the second shaft section. The torque receiving portion 212 forms the proximal end 211 of the post assembly 200 . The central hole of the driving shaft 210 includes a tapered hole section and a circular hole section. The tapered hole section is located on the second shaft section. The circular hole segment is located on the first shaft segment. The hole wall of the central hole is also provided with an axial keyway 214 . The first chute 216 and the second chute 217 are long grooves, which extend axially along the shaft body 219 and penetrate through the cylinder wall in the radial direction.

One end of the driven shaft 220 is used to form a telescopic connection with the driving shaft 210 . The other end of the drive shaft 210 is used to form the distal end 221 of the post assembly 200 . One end of the driven shaft 220 is provided with a radial through hole and a mounting groove. Radial through holes are used for mounting pins 510 . The installation groove is used for installing the key 400 .

The driven shaft 220 is plugged into the central hole of the driving shaft 210 . The key 400 is fixed in the installation groove of the driven shaft 220, and cooperates with the key groove 214 of the driving shaft 210, so that the driven shaft 220 can move axially relative to the driving shaft 210, but cannot rotate circumferentially, so the two can Transmission torque and axial expansion and contraction. When the connecting rod assembly 200 is shortened, the entire tool assembly can be shortened. When the tool assembly is shortened, the part connected to the power part 100 can be disengaged from the shaft hole of the power part 100, so that the whole tool assembly can be shifted at a certain angle with the file cup as the center. After the tool assembly is offset, its axial direction is no longer aligned with the power part, and it can be moved axially to withdraw the file cup in the acetabulum.

The axial pressing mechanism is used to form an elastic axial limiting mechanism between the driving shaft 210 and the driven shaft 220 . When the tool assembly is installed on the power unit 100 , the axial pressing mechanism keeps the driven shaft 220 and the driving shaft 210 in an extended state. The assembly relationship between the axial pressing mechanism and the driving shaft 210 and the driven shaft 220 is as follows. The elastic snap ring 540 is fixed on the ring groove 218 of the drive shaft 210 . The through sleeve 530 is sheathed on the outside of the drive shaft 210 . The lower end of the inner cavity of the sleeve 530 is provided with a radial flange and forms an axial stop with the elastic snap ring 540 . An annular cavity is formed between the inner wall of the sleeve 530 and the outer wall of the driving shaft 210 , and the second spring 520 and the third spring retaining ring 550 are accommodated in the annular cavity. The lower end of the second spring 520 is against the flange of the lower end of the sleeve 530 , and the upper end is the third spring retaining ring 550 . The length of the pin 510 is greater than the diameter of the driven shaft 220 , and both ends protrude radially from the driven shaft 220 and are respectively located in the first sliding groove 216 and the second sliding groove 217 , and are located above the third spring retaining ring 550 . When the driven shaft 220 moves axially toward the distal end 221 relative to the driving shaft 210 , the pin 510 will push the third spring retaining ring 550 and the second spring 520 .

The locking assembly 300 includes a housing 310 and a pin 320 . The housing 310 is roughly columnar in shape, with a receiving cavity 311 in the center. The accommodating chamber 311 penetrates along the axial direction. The accommodating chamber 311 is used for accommodating the driving shaft 210 of the rod assembly 200 . Four radial holes are provided on the side wall of the accommodating chamber 311 close to the upper opening for installing the pin 320 . A first limiting portion 312 and a second limiting portion 313 are disposed at intervals in the middle of the side wall of the receiving cavity 311 . A snap ring groove is provided on the side wall of the receiving cavity 311 near the lower opening. Both the first limiting portion 312 and the second limiting portion 313 are annular flanges protruding toward the center along the radial direction of the accommodating cavity 311 . The first limiting portion 312 is close to the upper opening of the receiving cavity 311 , and the second limiting portion 313 is close to the lower opening of the receiving cavity 311 . The diameter of the hole defined by the first limiting portion 312 is smaller than the diameter of the hole defined by the second limiting portion 313 . The diameter of the lower opening of the accommodation cavity 311 is larger than the diameter of the opening defined by the second limiting portion 313 . The pin 320 is fixed in the radial hole of the accommodating cavity 311 , and one end protrudes inward from the wall of the accommodating cavity 311 .

The driving shaft 210 is disposed in the accommodation cavity 311 of the housing 310 . The driving shaft 210 can move axially in the receiving cavity 311 , that is, the casing 310 can move axially along the driving shaft 210 . Two axial limiting structures are provided in the receiving cavity 311 to limit the travel of the driving shaft 210 in the axial direction, and keep the driving shaft 210 connected with the locking assembly 300 without breaking away. The casing 310 and the driving shaft 210 can move axially, which increases the telescoping capability of the tool assembly as a whole, and can reduce the demand for the telescoping stroke between the driving shaft 210 and the driven shaft 220 .

In this embodiment, the structures that limit the axial stroke of the driving shaft 210 are the first limiting portion 312 and the elastic limiting component. The elastic limiting component is disposed between the second limiting portion 313 and the lower opening of the accommodating cavity 311 . The elastic limit assembly includes an elastic snap ring 350 , a first spring retainer 340 , a first spring 330 and a second spring retainer 360 arranged from bottom to top. The elastic snap ring 350 and the first retaining ring 340 jointly limit the lower end of the first spring 330, the second retaining ring 360 and the second limiting portion 313 jointly limit the upper end of the first spring 330, and make the first spring 330 is compressed. The number of the second retaining ring 360 is two, which can be made of low friction coefficient material such as Teflon.

Further reference is made to FIG. 3 . The power output structure 110 of the power unit 100 includes a positioning shaft 112 and a transmission pin 113 . The positioning shaft 112 is a tapered shaft. The transmission pin 113 is radially arranged at the bottom of the tapered shaft, and both ends protrude out of the tapered surface. When the post assembly 200 is installed on the power part 100 , the locking assembly 300 is connected to the power part 100 , and the positioning shaft 112 is plugged into the positioning hole 213 of the driving shaft 210 . The first spring 330 and the second retaining ring 360 in the locking assembly 300 jointly press the flange 215 of the driving shaft 210 upwards, so that the driving shaft 210 is tightly inserted into the positioning shaft 112 . And, the lower end of the positioning shaft 112 will abut against the upper end of the driven shaft 220, and the pin 510 at the upper end of the driven shaft 220 is kept in the axial direction of the positioning shaft 112 under the elastic force of the third spring retaining ring 550 and the second spring 520. Press tight. The two ends of the transmission pin 113 will be inserted between the axial protrusions of the torque receiving part 212. When the positioning shaft 112 rotates, the transmission pin 113 can drive the driving shaft 210 to rotate, and the driving shaft 210 drives the driven shaft 220 to rotate through the key 400. . The end surface of the positioning shaft 112 transmits axial pressure to the upper end surface of the driven shaft 220 .

The structure of the power output structure 110 for connecting the locking assembly 300 is a cylinder fixed on the power part 100 and a set of slide grooves 111 arranged on the circumference of the cylinder. The chute 111 includes a helical section and an axial section. The helical segment extends helically upward from the bottom of the cylinder. The axial segment communicates with the upper end of the helical segment and extends axially downward. The end of the pin 320 of the locking assembly 300 may have a helical section that slides into an axial section. The downward reaction force of the first spring 330 will force the shell 310 to drive the pin 320 to be pressed against the lower end of the axial groove, so as to prevent the pin 320 from slipping out of the sliding groove 111 in the circumferential direction. Optionally, the power output structure 110 is fixed on the positioning shaft 112 and can rotate together with the positioning shaft 112 . Correspondingly, the locking assembly 300 of the rod assembly 200 will also rotate together with the positioning shaft 112 .

In this way, when the robot arm fails to move during the operation and the acetabular reamer cup needs to be withdrawn from the human acetabular fossa. As shown in Figure 4. The locking assembly 300 is first disconnected from the power unit 100 . That is, the locking assembly 300 is rotated to make the pin 320 unscrew from the slide slot 111 . Since the acetabular file cup and rod assembly 200 cannot move axially, the positioning shaft 112 still abuts against one end of the driven shaft. At this time, the locking assembly 300 and the driving shaft 210 can slide relative to the driven shaft 220 away from the power part, the post assembly 200 shrinks, and the tool assembly composed of the post assembly 200 and the locking assembly 300 shrinks, so that the positioning shaft 112 The part in contact with the driven shaft 220 is out of the shaft hole. Thus, the whole tool assembly is allowed to deviate at a certain angle with the working part (file cup) as the center. After the tool assembly is offset, its axial direction is no longer aligned with the power part, the positioning shaft 112 is out of contact with the driven shaft 220, and the tool assembly can move axially to withdraw the file cup in the acetabulum.

FIG. 7 is a schematic diagram of a torque transmission structure in another embodiment of the present disclosure. FIG. 8 is a schematic diagram of a torque transmission structure in another embodiment of the present disclosure. As shown in Figures 7 and 8, in some embodiments, the key 400 and the key groove 214 matching torque transmission structure as described in the previous embodiments may not be provided between the driving shaft and the driven shaft 220a, but in A torque transmission structure is provided between the end surfaces of the positioning shaft 112a and the driven shaft 220a. The torque transmission structure is specifically a plug-in structure arranged on the two adjacent end surfaces, and a strip-shaped, column-shaped or other protrusion on one end surface is embedded in a corresponding depression on the other end surface. The function of the driving shaft is positioning.

FIG. 9 is a schematic diagram of a torque transmission structure in another embodiment of the present disclosure. As shown in FIG. 9 , in some embodiments, the positioning shaft 112b and the driving shaft 210b may also be fitted with a circular hole, and/or, the driven shaft 220b and the driving shaft 210b may be fitted with a tapered hole. Optionally, a key, spline, mortise and tenon or friction transmission structure may be provided between the driving shaft 210b and the driven shaft 220b to transmit torque.

In some optional embodiments, the locking assembly 300 and the power part 100 may be connected by thread, magnetic connection, hook connection and the like.

In some optional embodiments, the second spring retainer 360 can also be replaced by an end bearing.

In some optional embodiments, the sleeve 530 can be fixedly connected with the housing 310, so that the reaction force of the second spring 520 can be directly transmitted to the housing 310, and the auxiliary first spring 330 can drive the housing 310 to drive the pin 320 to press against the housing 310. The bottom of the axial section of the chute 111.

Referring to FIG. 10 , FIG. 10 is a schematic structural diagram of a tool assembly according to another embodiment of the present disclosure. In some optional embodiments, the tool assembly can also be configured as a segmented structure, including a first segment 10 and a second segment 20 that are detachably connected. At least one of the first section 10 and the second section 20 is a retractable structure, the first section 10 is connected to the power part 100, and the second section 20 is connected to the working part. When disassembling, the first section 10 and/or the second section 20 are first shortened so that the first section 10 is disconnected from the power part 100 , and then the first section 10 is separated from the second end 20 . At this time, the second section 20 can be withdrawn directly from the human body in the axial direction, without shifting to one side to give way to the power unit 100 before withdrawing. In this alternative embodiment, the connection between the first section 10 and the second section 20 is the connection between the locking assembly 300 and the power part 100 .

As shown in FIG. 1 , the present disclosure also provides an end effector, including a robot arm interface 120 , a power unit 100 and a tool assembly. The power part is provided with a power output structure 110; the tool assembly is connected to the power part and driven by the power output structure 110; the tool assembly is any tool assembly described in the foregoing embodiments. The distal end of the tool assembly can be attached to an acetabular reamer for grinding the acetabulum. An end effector may be attached to the end of a surgical robotic arm via a robotic arm interface 120 .

As shown in FIG. 11 , the present disclosure provides a surgical robot system, which includes a robot arm 9100 , a navigation system 9000 , an arthroplasty actuator 6000 and a control system 9200 . The arthroplasty actuator 6000 is the end effector, which is attached to the end of the robot arm. The arthroplasty actuator 6000 in this embodiment includes the power part 100 and the tool assembly in the previous embodiments. The robot arm 9100 is equivalent to a surgeon's arm, and can hold and position surgical tools with high precision. The navigation system 9000 is equivalent to the eyes of the surgeon, with the tracker connected to the surgical tool and patient tissue, it can measure the position of the surgical tool and patient tissue in real time. Navigation system 9000 may be based on optical or electromagnetic signals. The control system 9200 is equivalent to the surgeon's brain, which stores surgical plans inside. The control system 9200 calculates the route and/or the position to be reached of the robot arm according to the information acquired through the navigation system 9000 during the operation, and can actively control the movement of the robot arm 9100, or set the virtual boundary of the robot arm 9100 through force feedback mode and then push it manually The robotic arm 9100 moves along a route, surface or volume defined by virtual boundaries.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

The above are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (11)

1. A tool assembly for connection to and driving by a power section, comprising:

a reach bar assembly having distal and proximal ends at both ends, the distal end for connecting to a working portion and the proximal end for engaging a power take-off structure of the power portion; wherein the extension rod assembly is telescopic, and can transmit axial force and torque when the extension rod assembly is kept in an extended state;

and a locking assembly disposed at a proximal end of the extension bar assembly, the locking assembly configured to connect to the power section and maintain the proximal end in engagement with the power take-off structure.

2. The tool assembly of claim 1, wherein the reach bar assembly includes a coaxially disposed drive shaft and driven shaft, the drive shaft and driven shaft being axially movable relative to one another.

3. The tool assembly of claim 2, wherein the drive shaft is configured to transmit torque of the power take off structure to the driven shaft.

4. The tool assembly of claim 2, wherein the reach bar assembly is configured for coaxial connection of the driven shaft and the drive shaft; the driven shaft is axially operable by the power take-off structure to form and maintain the extension bar assembly in an extended state when the tool assembly is mounted to the power section.

5. The tool assembly of claim 4, wherein a resilient member is disposed between the driven shaft and the drive shaft for axially compressing the driven shaft to the power take-off structure when the tool assembly is mounted to the power section.

6. The tool assembly of claim 5, wherein the driving shaft is of a sleeve structure and is sleeved outside the driven shaft, the wall of the sleeve structure is provided with an elongated slot extending along the axial direction, the driven shaft is provided with a radial pin, and the radial pin extends out of the sleeve structure along the elongated slot and acts on the elastic piece.

7. A tool assembly according to claim 1, wherein the drive shaft is provided with formations for radial positioning with the power take-off formations.

8. The tool assembly of claim 1 or 2, wherein the locking assembly is configured to have a predetermined axial travel with respect to the extension rod assembly.

9. The tool assembly of claim 2, wherein an axial compression mechanism is provided between the driven shaft and the drive shaft to maintain the extension bar assembly in an extended state.

10. An end effector, comprising:

a power part provided with a power output structure; and

a tool assembly connected to the power section and driven by the power take-off structure; the tool assembly is a tool assembly according to any one of claims 1 to 9.

11. A surgical robotic system, comprising:

a robotic arm;

an end effector connected to the end of the robot arm; and

the navigation system is used for acquiring azimuth information of the end effector and controlling movement of the robot arm;

wherein the end effector is the end effector of claim 10.