CN115120347B

CN115120347B - Surgical devices

Info

Publication number: CN115120347B
Application number: CN202110315554.0A
Authority: CN
Inventors: 陈志维; 周皓凯; 萧琇云
Original assignee: Bingshuo Medical Singapore Pte Ltd
Current assignee: Bingshuo Medical Singapore Pte Ltd
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2025-06-17
Anticipated expiration: 2041-03-24
Also published as: CN115120347A

Abstract

A surgical device for holding a surgical tool includes a multi-axis motion platform having a stationary end and a moving end, the multi-axis motion platform configured to produce relative motion between the moving end and the stationary end, a housing secured to the stationary end, a motor having a rotational interface through which the motor is configured to rotate the surgical tool when the surgical tool is held in the rotational interface, an adapter connected to the multi-axis motion platform and directionally secured to the moving end, the adapter configured to co-operate with the moving end, and the adapter including a surgical tool stop, wherein the surgical tool stop is configured to catch the surgical tool when the surgical tool is dropped from the rotational interface, a surgical tool zero-latch interface is exposed in the adapter and configured to provide an attractive force to hold the surgical tool in the rotational interface.

Description

Surgical device

Technical Field

The present disclosure relates to surgical devices, and more particularly to surgical devices that can assemble surgical tools via a zero-latch interface.

Background

Contamination is a problem in the surgical environment that every doctor and medical staff should pay attention to. In general, most procedures require multiple surgical procedures, such as incision, resection, suturing, and the like. Moreover, each surgical procedure typically requires a specific surgical tool, such as a scalpel to make an incision. Thus, the surgeon needs to manually access the different surgical tools during the surgical procedure. Although many surgical tools are disposable, receiving chu surgical tools increases the chances of contamination, such as contamination transferred from the patient's blood, tissue, pus, or other sources of contamination. Because the doctor is touching the surgical tool, contamination can be transferred to the surgical glove on the doctor's hand.

Nowadays, it is often seen that some surgeries are performed using semi-automatic surgical devices to achieve high precision and stable surgical procedures. However, the same problem of contamination transfer still exists because a doctor or medical staff is still required to separately attach or detach a plurality of surgical tools to or from the surgical device. Although proper sterilization may be performed between surgical tool changes, the risk of contamination transfer is not eliminated.

The present disclosure provides a surgical device that can mount and dismount surgical tools without a doctor or medical staff touching the surgical tools by hand, and that can also avoid the possibility of dropping the surgical tools due to a malfunction in the context of automatically mounting the surgical tools.

Disclosure of Invention

The present disclosure provides a surgical device that can install/uninstall surgical tools.

A surgical device for holding a surgical tool comprising a multi-axis motion platform having a stabilizing end and a motion end, the multi-axis motion platform configured to produce relative motion between the motion end and the stabilizing end; a housing secured to the stationary end of the multi-axis motion platform, a motor having a rotational interface through which the motor is configured to rotate the surgical tool when the surgical tool is held in the rotational interface, an adapter connected to the multi-axis motion platform and directionally secured to the motion end of the multi-axis motion platform, the adapter configured to move with the motion end and comprising a motor end, a surgical tool stop disposed between the motor end and the surgical tool end, and a channel extending between the motor end and the surgical tool end, wherein the channel is configured to receive the rotational interface from the motor end and the surgical tool from the surgical tool end, wherein the surgical tool stop has a fixed end secured to the adapter, a free end extending to the channel, and an elastic member disposed between the free end and the fixed end, wherein the elastic member is configured to reset the fixed end to the tool when the tool is exposed to the free end through the rotational interface, wherein the channel is configured to the surgical tool is exposed from the free end when the tool is released from the rotational interface, and configured to provide an attractive force in the channel to hold the surgical tool to the rotational interface.

According to an embodiment of the present disclosure, wherein the surgical tool stop is maintained at a distance from the surgical tool when the surgical tool is held at the rotational interface.

According to an embodiment of the present disclosure, wherein the free end of the surgical tool stop comprises a ball that contacts the surgical tool when the surgical tool is held at the rotational interface, wherein the ball is configured to freely rotate to reduce friction between the surgical tool stop and the surgical tool.

According to an embodiment of the present disclosure, the surgical device further comprises an electrical leakage feedback circuit coupled to the motor and configured to detect electrical leakage, wherein the surgical tool zero latch interface is further configured to stop providing the attractive force after the electrical leakage feedback circuit detects electrical leakage.

According to an embodiment of the present disclosure, when the leakage feedback circuit detects the leakage, wherein the surgical tool stop is further configured to maintain insulation between the surgical tool and the rotating interface of the motor when the surgical tool is secured within the adapter.

According to an embodiment of the present disclosure, wherein the surgical tool zero-latch interface is further configured to provide an attractive force to the surgical tool to pass over the surgical tool stop, whereby the surgical tool is moved from outside the channel of the adapter to inside and the surgical tool is held at the rotational interface.

According to an embodiment of the present disclosure, wherein the surgical tool zero-latch interface is further configured to provide a repulsive force to the surgical tool to clear the surgical tool stop, whereby the surgical tool is separated from the rotational interface and the surgical tool is moved out of the channel of the adapter.

According to an embodiment of the present disclosure, wherein the adapter further comprises a bearing exposed in the channel and disposed between the motor end of the adapter and the surgical tool stop, the bearing configured to stabilize rotation of the surgical tool.

According to an embodiment of the present disclosure, wherein the surgical tool is in physical contact with only the surgical tool zero-latch interface, the rotational interface, and the bearing when the surgical tool zero-latch interface holds the surgical tool at the rotational interface.

According to an embodiment of the present disclosure, wherein the surgical tool zero-latch interface comprises a gas channel extending within the rotational interface and in fluid communication with the channel of the adapter, wherein the gas channel is configured to allow a gas to flow therethrough, and the surgical tool zero-latch interface is further configured to provide a repulsive force, wherein the surgical tool zero-latch interface provides an attractive force and a repulsive force by a pressure differential created by the gas channel.

According to an embodiment of the present disclosure, further comprising an air pump disposed within the housing and connected to the surgical tool zero-latch interface, the air pump in fluid communication with the channel of the adapter through the surgical tool zero-latch interface, wherein the air pump is configured to draw air out of the channel of the adapter via the surgical tool zero-latch interface to create an attractive force, and the air pump is further configured to inject air into the channel of the adapter via the surgical tool zero-latch interface to create a repulsive force.

According to an embodiment of the present disclosure, the surgical tool zero-latch interface includes an electromagnet configured to electromagnetically generate attractive force and repulsive force, wherein attractive force is generated by making a polarity of the electromagnet different from that of the surgical tool, and repulsive force is generated by making a polarity of the electromagnet identical to that of the surgical tool.

According to an embodiment of the present disclosure, the adapter further comprises a connection portion disposed outside the tool end of the adapter, and the surgical tool comprises a marker support, wherein the connection portion is configured to connect to the marker support of the surgical tool to secure the marker support to the adapter when the surgical tool is rotated with the rotational interface.

According to an embodiment of the present disclosure, the surgical tool further includes a first end and a second end, the surgical tool including a surgical tool body extending between the first end and the second end, the marker support disposed between the first end and the second end and closer to the first end, a marker bearing disposed between the surgical tool body and the marker support, the marker bearing configured to facilitate free rotation of the marker support about the surgical tool body, wherein a rotational axis of the marker support defines a surgical tool axis.

According to an embodiment of the disclosure, the surgical tool further comprises a first directional feature affixed to the marker support and a second directional feature affixed to the surgical tool body, wherein the first directional feature is disposed between the marker support and the second directional feature, wherein the first directional feature and the second directional feature have the same cross-sectional shape when viewed along the surgical tool axis.

According to an embodiment of the present disclosure, the motor is configured to rotate the surgical tool such that the cross-sectional shape of the second directional feature coincides with the cross-sectional shape of the first directional feature, thereby placing the first directional feature and the second directional feature into a directional surgical tool slot.

According to an embodiment of the present disclosure, wherein the first directional feature and the second directional feature each comprise an irregular polygonal profile when viewed along the surgical tool axis.

According to an embodiment of the present disclosure, wherein the first directional feature and the second directional feature have non-polygonal shapes lacking rotational symmetry when viewed along the surgical tool axis.

According to an embodiment of the present disclosure, the surgical tool further comprises a first end and a second end, and the surgical tool comprises a fiducial marker, wherein a surgical tool axis of the surgical tool is defined as extending between the first end and the second end, wherein the fiducial marker is axially symmetric with the surgical tool axis and coaxially connected to the surgical tool.

According to one embodiment of the present disclosure, the surgical tool further comprises a first end and a second end, and the surgical tool comprises a permanent magnet and a bearing connected between the surgical tool and the permanent magnet, wherein the permanent magnet is located between the first end and the second end of the surgical tool and closer to the first end, wherein the permanent magnet is configured to react to an attractive force provided by the surgical tool zero-latch interface.

According to an embodiment of the present disclosure, further comprising a set of first fiducial markers and the surgical tool, and the surgical tool comprises a second fiducial marker, wherein the set of first fiducial markers and the second fiducial marker are configured to form a spatial pattern recognizable by an optical sensor, wherein the spatial pattern comprises a plurality of coordinates, and a match between the plurality of coordinates of the spatial pattern and a geometric relationship is representative of the surgical tool being properly held at the rotational interface.

Compared with the prior art, the surgical device is provided with or is detached from the surgical tool through the zero latch interface, so that the pollution risk caused by direct touching of medical staff on the surgical tool is avoided.

Drawings

Fig. 1 is an isometric view of a surgical environment in one embodiment of the disclosure.

Fig. 2 is an isometric view of a surgical device in an embodiment of the disclosure.

Fig. 3 is an isometric view of a surgical device in an embodiment of the disclosure.

Fig. 4 is an isometric view of a surgical device in an embodiment of the disclosure.

Fig. 5 is an isometric view of a surgical device in an embodiment of the disclosure.

Fig. 6 is an isometric view of a surgical device in an embodiment of the disclosure.

Fig. 7 is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

Fig. 8 is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

Fig. 9 is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

FIG. 10 is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

FIG. 11 is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

FIG. 12 is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

Fig. 13 is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

Fig. 14 is a schematic top view of a tool box in an embodiment of the disclosure.

Fig. 15 is an isometric view of a tool holder and a surgical tool according to an embodiment of the disclosure.

Fig. 16 is a method of operating a device in an embodiment of the present disclosure.

Fig. 17 is a method of operating a device in an embodiment of the present disclosure.

Fig. 18 is a method of operating a device in an embodiment of the present disclosure.

Fig. 19 is an isometric view of a spatial pattern SP of a surgical device in an embodiment of the disclosure.

Fig. 20 is a simplified schematic diagram of the spatial pattern SP in fig. 19.

Fig. 21 is a schematic diagram of an embodiment of the present disclosure, in which the deviation between the geometric relationship GR and the spatial pattern SP is exaggerated.

Fig. 22 is a schematic diagram of a spatial pattern SP almost matching a geometric relationship GR in an embodiment of the present disclosure.

FIG. 23 is a schematic diagram of a mark within the acceptable range AA in an embodiment of the present disclosure.

Description of the main reference numerals

The following detailed description will further illustrate the disclosure in conjunction with the above-described drawings.

Detailed Description

It will be appreciated that for simplicity and clarity of illustration, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements where appropriate. Furthermore, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be understood by those of ordinary skill in the art that the embodiments described herein may be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the relevant features described. And, this description is not to be taken as limiting the scope of the embodiments described herein. The figures are not necessarily to scale, some portions may be exaggerated to better illustrate details and features of the present disclosure.

It should be noted that the term "connected" may be interpreted as a direct or indirect physical contact and the term "coupled" may be interpreted as a direct or indirect electrical communication.

Fig. 1 is an isometric view of a surgical environment in one embodiment of the disclosure. In the surgical environment, a surgical personnel 1 may hold a surgical device 100 coupled to a robotic arm 5 to perform a procedure on a subject 2. An operating computer 3 is connected to the robot arm 5 and a tracker 4. In this way, the surgical computer 3 is configured to receive position information from the tracker 4 and to guide the movement of the surgical device 100 with the robot arm 5 according to the position information. Further, the tracker 4 comprises an optical sensor configured to receive an optical signal from a reference marker (not shown) and to be fixed to the surgical device 100, and the tracker 4 is configured such that the optical signal is based on generating position information, so that the surgical computer 3 can determine the position of the surgical device 100. One end of the surgical device 100 is connected to a surgical tool 200 for performing a surgical procedure. When a plurality of different surgical tools are required during surgery, the surgical tool 200 on the surgical device 100 may be replaced with another surgical tool 200a in a surgical tool cassette 300. Furthermore, in most cases, one operation involves a plurality of operation operations, which can be performed only by different operation tools, so that frequent replacement of the operation tools is indispensable during the operation. Replacement of surgical tools is typically performed by a surgical personnel or medical assistant. Of course, any person who replaces the surgical tools can wear sterile gloves, but this cannot avoid contamination in the blood or tissue being transferred between different surgical tools via the gloves. In the present disclosure, the surgical device 100 is configured to replace a different surgical tool without human direct contact with the surgical tool, so the chance of contamination may be reduced.

Fig. 2 is an isometric view of a surgical device in an embodiment of the disclosure. As shown in fig. 2, a surgical device 100 includes a multi-axis motion platform 101, a housing 102, a motor 103, and an adapter 104. The multi-axis motion platform 101 includes a stabilizing end 1011, a motion end 1013, and a plurality of joints 1012 connecting the motion end 1013 to the stabilizing end 1011. The multi-axis motion platform 101 is configured to generate relative motion between the motion end 1013 and the stabilization end 1011 by driving the plurality of joints 1012. The housing 102 is the stabilizing end 1011 secured to the multi-axis motion stage 101, so the motion end 1013 is movable relative to the housing 102. The motor 103 is fixedly arranged between the moving end 1013 and the adapter 104, so that the motor 103 and the adapter 104 are configured to move together with the moving end 1013. The adapter 104 is a rotational interface (not shown) configured to receive the motor 103 and a surgical tool 200, and the surgical tool 200 is held in the rotational interface of the adapter 104, so the motor 103 is configured to drive rotation of the surgical tool 200 by the rotational interface. In one embodiment of the present disclosure, the adapter 104 is directionally fixed with respect to the moving end 1013, and further, the direction of the adapter 104 with respect to the moving end 1013 remains unchanged as the multi-axis motion platform 101 moves. For example, the adapter 104 moves with it as the moving end 1013 moves, such as up/down, front/back, left/right, roll, yaw, or pitch. By way of further example, the adapter 104 has a first axis and the moving end 1013 has a second axis in a particular relationship (e.g., parallel, intersecting, perpendicular, coincident, etc.) with the first axis, the particular relationship between the adapter 104 and the moving end 1013 being constant. The motor 103 is configured to generate torque by rotating the rotational interface, and the rotational interface is configured to rotate continuously to support a surgical operation such as drilling, or to rotate a specified angle to support a surgical operation such as implant placement or nerve retraction. For example, the motor 103 may be a stepper motor or a servo motor to effect rotation of the rotary interface by a specified angle. For surgical procedures requiring movement of the surgical tool 200 other than rotation, the multi-axis motion platform 101 is configured to do so by driving the motion end 1013 with the plurality of joints 1012, e.g., the plurality of joints 1012 are configured to move the motion end 1013 up and down (in fig. 2) to support a surgical procedure such as piling. In one embodiment, the multi-axis motion stage 101 is a parallel robot that has many advantages over a serial robot, such as less inertial force, higher stiffness, well-defined and unique direct force conversion, precise positioning, etc.

In an embodiment of the present disclosure, as shown in fig. 3, the multi-axis motion platform 101 of the surgical device 100 further comprises a plurality of linear motors 1014 connected to the plurality of joints 1012, the plurality of linear motors 1014 configured to drive the corresponding plurality of joints 1012. More specifically, the joints 1012 connected to the mover of the linear motor 1014 may be expanded or contracted as the mover moves, and the moving ends 1013 fixed to the plurality of joints 1012 also move with the movement of the joints 1012. With respect to the foregoing piling procedure, the plurality of linear motors 1014 are configured to drive all of the joints 1012 to repeatedly extend and retract together, and thus the surgical tool 200 is configured to move back and forth with respect to the subject of the piling procedure. In fig. 3, the plurality of linear motors 1014 may be housed within the housing 102 (only shown in outline for clarity). In another embodiment of the present disclosure, as shown in fig. 4, the plurality of linear motors 1014 are disposed between the stabilizing end 1011 and the moving end 1013 of the multi-axis motion platform 101. With this arrangement, the space in the housing 102 that would otherwise be occupied by the plurality of linear motors 1014 can be omitted to accommodate other components. Furthermore, exposing the plurality of linear motors 1014 is beneficial for maintenance or repair. Even though the multi-axis motion stage 101 is driven by the plurality of linear motors 1014 in fig. 3 and 4, the linear motors 1014 may be replaced with servo motors, stepper motors, lead screws/ball screws and nuts, or any combination thereof, provided that linear motion is provided to extend and retract the joints 1012 of the multi-axis motion stage 101.

Fig. 5 illustrates an arrangement of the motor 103 according to an embodiment of the present disclosure. As shown in fig. 5, the motor 103 is at least partially disposed between the stabilizing end 1011 and the moving end 1013 of the multi-axis motion platform 101, such that the surgical device 100 in fig. 5 is shorter than the surgical device 100 in fig. 2. As with the other embodiments described above, the motor 103 in this embodiment is configured to output a torque to the surgical tool 200 to rotate the surgical tool 200. Also, the partial or complete incorporation of the motor 103l into the motion end 1013 may increase the stability of the multi-axis motion platform 101 when the motor 103 outputs torque, so that the accuracy of the procedure may be improved. The same concept is also applied to another embodiment of the present disclosure, as shown in fig. 6, the motor 103 is integrated within the housing 102. It should be noted that the housing 102 in fig. 5 and 6 is presented in outline only for clarity of description. The motor 103 includes a motor main body 1031 and a rotary interface 1032, wherein the motor main body 1031 is disposed between the plurality of linear motors 1014 within the housing 102, so that the adapter 104 and the motor main body 1031 are disposed on different sides of the multi-axis motion platform 101, respectively. In this embodiment, the rotary interface 1032 is an elongated form having two ends and one end is fixed to the rotor in the motor body 1031 and the other end is disposed within the adapter 104 to connect and rotate the surgical tool 200. In other words, the rotary interface 1032 is configured to transmit torque provided by the motor body 1031 to the surgical tool 200. In a surgical procedure, vibration disturbances from the rotating rotor within the motor 103 at the surgical end T _surgical of the surgical tool 200 near the subject are substantially reduced as far as the motor body 1031 is disposed within the housing 102. Furthermore, the multi-axis motion platform 101 no longer needs to carry the weight of the motor 103, and thus has a longer life. In addition, due to the reduced inertia, reducing the load on the moving end 1013 of the multi-axis motion platform 101 is advantageous for better control of the multi-axis motion platform 101, thereby reducing the settling time of the moving end 1013 from motion to rest. Thus, the surgical end T _surgical of the surgical tool 200, which performs a surgical procedure, can also be stabilized in a quicker manner in connection therewith.

Referring again to fig. 2, the surgical device 100 further includes at least one device marker 105 secured thereto, and the surgical tool 200 includes a surgical tool marker 201 disposed thereon. In the present disclosure, a surgical tool axis T _axis is defined between two ends of the surgical tool 200, one end (hereinafter referred to as an adapter end T _adaptor) being disposed within the adapter 104 and the other end (hereinafter referred to as a surgical end T _surgical) being used to perform a surgical operation. In one embodiment, the surgical tool indicia 201 is disposed coaxially with the surgical tool axis T _axis of the surgical tool 200, so that positional information of the surgical tool indicia 201 is not affected by rotation of the surgical tool 200 by the motor 103. The device marker 105 and the surgical tool marker 201 are both fiducial markers that the tracker 4 of fig. 1 can track. In other words, the device tag 105 and the surgical tool tag 201 are configured to reflect or emit light signals to the tracker 4, and position information of the surgical device 100 and the surgical tool 200 can be generated in the tracker 4. Although the device indicia 105 are not shown in fig. 3, 5 and 6, they are omitted for more clear visual presentation only. Since the multi-axis motion stage 101 can move the surgical tool 200 and the robot arm 5 can further move the surgical device 100 including the multi-axis motion stage 101, tracking the device markers 105 and the surgical tool markers 201 with the tracker 4 allows the surgical computer 3 to determine the position of the surgical device 100, the position of the surgical tool 200, and the relative position between the surgical device 100 and the surgical tool 200. In this way, the basic requirements for automatic surgical tool replacement (i.e., determining the position of the surgical device 100 and the surgical tool 200) are satisfied. For example, the surgical computer 3 is configured to guide the operation of the surgical device 100 according to the positional information of the surgical device 100 and the surgical tool 200 so that the surgical device 100 is brought close to the surgical tool 200, thereby attaching the surgical tool 200 to the surgical device 100 without using hands. However, in order to achieve automatic surgical tool replacement, not only the positional information of the surgical device 100 and the surgical tool 200 needs to be determined, but also the ability to automatically mount the surgical tool 200 to the surgical device 100 is required. Details of the automatic installation will be further described in fig. 7-13, wherein fig. 7-13 show cross-sectional views of the adapter 104, the motor 103 in part, and the surgical tool 200 in part.

Fig. 7-13 illustrate partial cross-sectional views of the surgical device 100 around the adapter 104, in accordance with embodiments of the present disclosure. As shown in FIG. 7, the adapter 104 includes a motor end A _motor, a surgical tool end A _tool, A passage 1041 extends between the motor end a _motor and the surgical tool end a _tool and a surgical tool stop 1042 is provided between the motor end a _motor and the surgical tool end a _tool. the channel 1041 is configured to receive the rotary interface 1032 from the motor end a _motor and the surgical tool 200 from the surgical tool end a _tool, and the rotary interface 1032 is configured to connect to the surgical tool 200 within the channel 1041. The surgical device 100 further includes a surgical tool zero latch interface 106 exposed in the channel 1041, the surgical tool zero latch interface 106 configured to provide an attractive force in the channel 1041 to hold the surgical tool 200 to the rotational interface 1032 for mounting the surgical tool 200 to the surgical device 100. In one embodiment, the device tag 105 and the surgical tool tag 201 form a spatial pattern recognizable by the tracker 4, and the coordinates (e.g., cartesian coordinates) of the spatial pattern that are recognized are sent to the surgical computer 3 for determination, when the coordinates of the spatial pattern match a stored specified geometric relationship in the surgical computer 3, thereby determining that the surgical tool 200 is properly held at the rotational interface 1032. The attractive force may be in the form of air pressure, magnetic force, etc. It should be noted that the specific structure of the surgical tool zero latch interface 106 is not shown in fig. 7-10 for clarity of visual presentation, to emphasize that the surgical tool zero latch interface 106 may provide the ability to not provide visible forces that facilitate installation of the tool 200 without grasping by hand, and that the surgical tool zero latch interface 106 will be described in further detail in fig. 11 and 12.

In one embodiment of the present disclosure, the surgical tool zero latch interface 106 is configured to pull (drag) the surgical tool 200 over the surgical tool stop 1042 by an attractive force provided. As shown in fig. 8, the surgical tool 200 is pulled from outside to inside the channel 1041 of the adapter 104. The surgical tool stop 1042 comprises a fixed end TS _fixed secured to the adapter 104, a free end TS _free extending into the channel, and a resilient member 10421 disposed between the free end TS _free and the fixed end TS _fixed. The resilient member 10421 allows the free end TS _free pushed toward the fixed end TS _fixed by the surgical tool 200 to be reset when the surgical tool 200 passes the surgical tool stop 1042. The surgical tool stop 1042 further comprises a ball 10422 at the free end TS _free, and the ball 10422 is configured to prevent the surgical tool 200 from being worn by the surgical tool stop 1042 when the surgical tool 200 passes the free end TS _free. After the surgical tool 200 passes over the free end and is held to the rotational interface 1032, the surgical tool stop 1042 is maintained at a distance from the surgical tool 200 so as not to interfere with the rotation of the surgical tool 200.

As shown in fig. 9, the surgical tool 200 is further pulled into the channel 1041 as the surgical tool zero latch interface 106 continues to provide an attractive force. Thus, the surgical tool 200 is connected to the rotary interface 1032 of the motor 103. As such, the surgical tool stop 1042 is no longer pushed in by the surgical tool 200, and thus the free end TS _free is reset to the initial position of the free end TS _free by the resilient member 10421. Also, as long as the surgical tool zero-latch interface 106 continues to provide an attractive force, the adapter end T _adaptor of the surgical tool 200 can be retained in the rotating interface 1032 in the channel 1041 of the adapter 104. In one embodiment of the present disclosure, the rotational interface 1032 is configured to rotate the surgical tool 200 via torque provided by the motor body 1031 of the motor 103, such that the adapter end T _adaptor of the surgical tool 200 includes at least two surfaces (e.g., flat surfaces) that are structurally complementary to the rotational interface 1032. The adapter 104 further includes a bearing 1043 exposed within the channel 1041 and disposed between the motor end a _motor and the surgical tool end a _tool. The bearing 1043 is configured to surround the surgical tool 200 held to the rotational interface 1032, thereby contacting the surgical tool 200 in addition to the rotational interface 1032, so as to increase the contact area between the surgical tool 200 and the adapter 104, thereby facilitating stable rotation of the surgical tool 200 within the channel 1041 of the adapter 104. In one embodiment of the present disclosure, when the surgical tool 200 is held by the surgical tool zero latch interface 106 at the rotational interface 1032, the surgical tool 200 only just contacts the bearing 1043, except for the surgical tool zero latch interface 106 and the rotational interface 1032, thus reducing the friction force applied by the bearing 1043 to the surgical tool 200 as the surgical tool 200 rotates. In other words, the surgical tool 200 is in physical contact only with the surgical tool zero-latch interface 106, the rotational interface 1032, and the bearing 1043. In another embodiment, the ball 10422 at the free end TS _free is designed to contact the surgical tool 200 when the surgical tool 200 is held to the rotational interface 1032, which may further increase the rotational stability of the surgical tool 200.

In one embodiment, the surgical tool zero latch interface 106 is further configured to provide a repulsive force. Like the attractive force, the repulsive force may be in the form of air pressure, magnetic force, etc., which may be provided to the surgical tool 200 without physical contact, so that the surgical tool 200 may be disassembled without being pulled by hand. When the surgical tool zero latch interface 106 provides a repulsive force, the surgical tool 200 is pushed and passed over the surgical tool stop 1042, thus the surgical tool 200 is separated from the rotational interface 1032 and moved out of the interior of the channel 1041 of the adapter 104, thereby removing the surgical tool 200 from the surgical device 100. With respect to the installation process of the surgical tool 200 shown in fig. 7 to 9, the surgical tool 200 is basically the reverse process thereof when disassembled.

In one embodiment of the present disclosure, the surgical device 100 further includes a leakage feedback circuit coupled to a power terminal of the rotary interface 1032 or the motor 103. In the surgical environment shown in fig. 1, leakage of electricity from the surgical device 100 may flow to the surgical personnel 1 and/or the subject 2, which is undesirable. On the other hand, leakage may also cause overheating or other malfunctions that may interfere with the operation of the surgical device 100. The leakage feedback circuit is configured to detect leakage around the motor 103, and the surgical tool zero latch interface 106 is further configured to cease providing attractive force when the leakage feedback circuit detects leakage. Immediately after the attractive force is lost, the force of gravity drops the surgical tool 200. Thus, as shown in fig. 10, after the surgical tool 200 is dropped from the rotational interface 1032, the surgical tool stop 1042 is further configured to catch the surgical tool 200 via the free end TS _free within the channel 1041. As such, the surgical tool stop 1042 maintains the surgical tool 200 at a distance from the rotational interface 1032 by securing the surgical tool 200 within the adapter 104. In other words, the surgical tool 200 is insulated from the motor 103 and leakage.

In one embodiment of the present disclosure, as shown in fig. 11, the surgical tool zero latch interface 106 includes a gas passage 1061 extending within the rotational interface 1032 and in fluid communication with the passage 1041 of the adapter 104. As such, the gas passage 1061 is configured to allow gas to flow therethrough, so that gas may enter or exit the adapter 104 through the gas passage 1061 through the surgical tool zero-latch interface 106 to provide a pressure differential. First, as gas exits the channel 1041 and flows into the gas channel 1061, a negative pressure is created in the channel 1041, thereby creating the attractive force provided by the surgical tool zero-latch interface 106. Thus, a surgical tool 200 may be drawn into the adapter 104 by suction to connect to the rotational interface 1032. When the surgical tool 200 is connected, the air pressure within the channel 1041 is returned to about atmospheric pressure (i.e., slightly above or below atmospheric pressure) and an attractive force is maintained by providing a negative pressure in the air channel 1061 of the surgical tool zero-latch interface 106, thereby holding the surgical tool 200 to the rotary interface 1032. Conversely, as gas enters the channel 1041 from the gas channel 1061, a positive pressure is created in the channel 1041, thereby creating a repulsive force provided by the surgical tool zero-latch interface 106. Thus, a surgical tool 200 may be removed from the rotational interface 1032 by repulsive force and pushed out of the adapter 104.

In one embodiment of the present disclosure, the surgical device 100 further includes an air pump (not shown) disposed within the housing 102 and coupled to the surgical tool zero latch interface 106, the air pump in fluid communication with the channel 1041 of the adapter 104 through the surgical tool zero latch interface 106. As such, the surgical tool zero-latch interface 106 may be a gas channel in fluid communication with the channel 1041. In an embodiment, the gas channel is arranged through the motor 103. In another embodiment, the gas channel is arranged outside the motor 103. The air pump is configured to provide a pressure differential across the gas channel to the channel 1041 of the adapter 104 to create an attractive force, such as drawing air from the channel 1041. Conversely, the air pump is further configured to provide a pressure differential by injecting air from the air channel into the channel 1041 of the adapter 104, thereby generating a repulsive force in the channel 1041. Or the gas passage may be connected to an external air pump in the surgical environment, rather than to the air pump integrated within the housing 102. In this way, the air flow is formed by a plurality of solenoid valves between the air passage and the external air pump, and the solenoid valves may be disposed in the housing 102. Accordingly, the overall weight of the surgical device 100 may be reduced.

As shown in fig. 12, in one embodiment of the present disclosure, the surgical tool zero latch interface 106 includes an electromagnet 1062 configured to electromagnetically generate attractive and repulsive forces. The electromagnet 1062 is disposed between the motor 103 and the surgical tool end a _tool of the adapter 104 and is exposed in the channel 1041. The surgical tool 200 includes a permanent magnet 202 coupled to the other to provide attractive and repulsive electromagnetic forces. The permanent magnet 202 is disposed between the adapter end T _adaptor and the surgical end T _surgical of the surgical tool 200 and is closer to the adapter end T _adaptor. The electromagnet 1062 is configured to be driven by receiving power from the cable 1063 to generate attractive and repulsive forces. Attractive force is generated by driving the electromagnet 1062 to be different in polarity from the permanent magnet 202 of the surgical tool 200. Conversely, the repulsive force is generated by driving the electromagnet 1062 to be the same polarity as the permanent magnet 202 of the surgical tool 200. In one embodiment, the electromagnet 1062 is disposed within the channel 1041 but not in contact with the rotating interface 1032, such that rotation of the rotating interface 1032 is not offset by friction from the electromagnet 1062 not rotating together. In this case, the surgical tool 200 further includes a magnet bearing 203 disposed between the permanent magnet 202 and a surgical tool body 204. Thus, when the permanent magnet 202 is held by the attractive force to the electromagnet 1062, the surgical tool body 204 is configured to freely rotate with the rotational interface 1032. In another embodiment, the electromagnet 1062 is integral with the rotary interface 1032 and thus rotatable with the rotary interface 1032. As such, both the permanent magnet 202 and the surgical tool body 204 are configured to rotate with the rotary interface 1032 and the electromagnet 1062. In other words, the magnet bearing 203 is not required to be provided between the permanent magnet 202 and the surgical tool main body 204.

As previously mentioned, the surgical tool indicia 201 may be disposed coaxially with the surgical tool 200, as shown in fig. 2. In another embodiment, as shown in fig. 13, the surgical tool indicia 201 are disposed on an indicia support 205 of the surgical tool 200. The surgical tool 200 includes a marker bearing 206 and the marker support 205 disposed between the marker bearing 206 and the surgical tool body 204, and the marker bearing 206 and the marker support 205 each have a rotational axis coincident with the surgical tool axis T _axis. By the marker bearing 206, the marker support 205 and the surgical tool marker 201 thereon do not rotate with the surgical tool body 204 driven by the rotational interface 1032, which facilitates rotational stability and tracking of the surgical tool 200. More specifically, the surgical tool indicia 201, which do not rotate with the surgical tool body 204, do not impart unnecessary centrifugal force to the surgical tool 200. Of course, it is easier to track the surgical tool 200 by the tracker 4 during a surgical procedure based on the surgical tool markers 201 that are not moving. The marker support 205 may be disposed between the adapter end T _adaptor and the surgical end T _surgical of the surgical tool and closer to the adapter end T _adaptor. In addition, the adapter 104 includes a first connection 1044 disposed at the surgical tool end A _tool of the adapter 104, and the surgical tool 200 further includes a second connection 207 disposed over the marker support 205 and between the surgical tool marker 201 and the marker bearing 206. Thus, the marker support 205 may be secured to the adapter 104 by connecting the second connection 207 to the first connection 1044. By doing so, the surgical tool tag 201 and the tag support 205 are further prevented from freely rotating around the surgical tool body 204 due to gravity. In other words, when the surgical tool 200 is not perpendicular to the ground during a surgical operation, the surgical tool flag 201 does not move due to gravity because the flag support 205 is already fixed to the surgical device 100. In one embodiment, one of the first coupling portion 1044 and the second coupling portion 207 may be a magnet, while the other is ferromagnetic.

In one embodiment, as shown in fig. 13, the surgical tool 200 further includes a first directional feature 208 disposed about the marker bearing 206 and secured below the marker support 205 such that the first directional element 208 does not rotate with the surgical tool body 204. The cross-sectional shape of the first directional element 208 has directionality when viewed along the surgical tool axis T _axis. In other words, if the cross-sectional shape of the first directional element 208 is rotated 360 degrees, it coincides with itself only once, i.e. lacks rotational symmetry. As shown in fig. 14, a surgical tool case 300 includes a plurality of directional surgical tool slots 302. The first directional element 208 is a directional surgical tool slot 302 configured to be received in the surgical tool case 300, wherein the directional surgical tool slot 302 corresponds to the shape of the first directional element 208. In this manner, the relative orientation between the marker support 205 and the surgical tool cassette 300 may be limited by the mating between the first directional element 208 secured to the marker support 205 and the directional surgical tool slot 302. In another embodiment, the surgical tool case 300 further includes a non-directional surgical tool slot 302a and a third coupling portion 303, the third coupling portion 303 being configured to secure the marker support 205 without the first directional element 208 when the surgical tool 200 is placed in the non-directional surgical tool slot 302 a. For example, when the marking support 205 is ferromagnetic, the third connection portion 303 may be a magnet. Thus, the surgical tool cassette 300 can limit the relative orientation between the marker support 205 and the surgical tool body 204. As such, during the process of picking up the surgical tool 200 from the surgical tool case 300 or replacing the surgical tool 200 with the surgical tool case 300 by the surgical device 100, the marking support 205 is fixed to the surgical tool case 300 by either the third connection portion 303 or the first connection portion 1044.

In one embodiment, the surgical tool cassette 300 further comprises a cassette indicia 301 secured thereto. Like the device tag 105 and the surgical tool tag 201, the tool box tag 301 is a fiducial tag that the tracker 4 can track, so the position of the surgical tool box 300 in the surgical environment can be determined. In this way, the manipulator arm 5 can move the surgical device 100 above the surgical tool box 300 by guiding the surgical computer 3, thereby facilitating the installation or removal of the surgical tool 200.

In one embodiment, as shown in fig. 15, the surgical tool 200 further includes a second directional element 209 secured to the surgical tool body 204 below the first directional element 208, and the second directional element 209 has the same cross-sectional shape as the first directional element 208 when viewed along the surgical tool axis T _axis, and thus lacks rotational symmetry. As previously described, the adapter end T _adaptor of the surgical tool 200 includes at least two surfaces that are structurally complementary to the rotating interface 1032. In other words, the surgical tool 200 may be properly mounted to the surgical device 100 when the adapter end T _adaptor is structurally mated with the rotary interface 1032. When the surgical tool 200 is placed in the surgical tool cassette 300, both the first directional element 208 and the second directional element 209 should be placed in the directional surgical tool slot 302. Further, the motor 103 is configured to rotate the surgical tool body 204 such that the cross-sectional shape of the second directional element 209 coincides with the cross-sectional shape of the first directional element 208, wherein the cross-sectional shape is a cross-sectional shape viewed along the surgical tool axis T _axis. As such, the directional surgical tool slot 302 may limit the cross-sectional shape of the adapter end T _adaptor to a particular orientation when viewed along the surgical tool axis T _axis. Accordingly, automatic mounting of the surgical tool 200 to the surgical device 100 may be achieved by setting a default orientation of the rotational interface 1032, wherein a cross-sectional shape of the rotational interface 1032 in the default orientation coincides with a cross-sectional shape of the adapter end T _adaptor when viewed along the surgical tool axis T _axis.

It should be noted that since the first directional element 208, the second directional element 209, and the directional surgical tool slot 302 should have the same cross-sectional shape, their carrier surface shapes are directional. Directional surgical tool slot 302b and directional surgical tool slot 302c will be illustrated in fig. 14. In an embodiment of the present disclosure, the directional shape may be an irregular polygonal profile, as shown by the directional surgical tool slot 302 b. In another embodiment of the present disclosure, the directional shape may be a non-polygonal shape lacking rotational symmetry, as shown by the directional surgical tool slot 302 c.

Fig. 16 illustrates a method of installing and removing a next surgical tool 200 by the surgical device 100, in accordance with an embodiment of the present disclosure. The method comprises the following steps:

In S101, the surgical device 100 receives a first acknowledgement signal. The first acknowledgement signal is sent by the surgical computer 3 to the surgical device 100. In an embodiment, the first acknowledgement signal is sent when the opening of the surgical tool end a _tool of the channel 1041 of the adapter 104 of the surgical device 100 is close to the adapter end T _adaptor of the surgical tool 200 placed in the surgical tool box 300 and the rotational axis of the motor 103 is aligned with the surgical tool axis T _axis. Meanwhile, the surgical computer 3 is configured to determine a first spatial pattern formed by the at least one device marker 105 and a surgical tool marker 201, or by the at least one device marker 105 and the at least one tool box marker 301.

In S102, a first control signal is sent to the surgical tool zero-latch interface 106 in the surgical device 100 according to the first acknowledge signal. In one embodiment, after the surgical device 100 receives the first acknowledgement signal, a controller of the surgical device 100 sends the first control signal to the surgical tool zero-latch interface 106. In one embodiment, the controller is disposed in the housing 102 and controls the motion of the multi-axis motion platform 101, the rotation of the motor 103, and the actuation of the surgical tool zero latch interface 106 by sending electrical signals. The controller is also configured to receive a feedback signal from the leakage feedback circuit to correspondingly deactivate the surgical tool zero latch interface 106.

In S103, the surgical tool zero latch interface 106 provides an attractive force according to the first control signal. In one embodiment, the gas channel 1061 provides a pressure differential to the channel 1041 by sending a control signal to drive the gas pump in the housing 102, thereby providing an attractive force, such as drawing gas away from the channel 1041. In another embodiment, attractive force is provided by sending a control signal to drive the electromagnet 1062 to a polarity different from the polarity of the permanent magnet 202 on the surgical tool 200.

In S104, the surgical tool 200 is pulled into the adapter 104 of the surgical device 100 by an attractive force from the surgical tool zero latch interface 106. In one embodiment, the surgical tool 200 is pulled into the adapter 104 by negative pressure generated in the channel 1041. In another embodiment, the surgical tool 200 is pulled into the adapter 104 by electromagnetic force.

In S105, the surgical tool 200 is held to the motor 103 in communication with the channel 1041 of the adapter 104 by attractive force from the surgical tool zero latch interface 106. In one embodiment, the surgical tool zero latch interface 106 continues to provide negative pressure to the channel 1041, thereby maintaining the adapter end T _adaptor in engagement with the rotating interface 1032. In another embodiment, the surgical tool zero latch interface 106 continues to provide electromagnetic force to the channel 1041, thereby maintaining the adapter end T _adaptor in engagement with the rotating interface 1032.

In S106, the surgical device 100 receives a second acknowledgement signal. The second confirmation signal is sent from the surgical computer 3 to the surgical device 100. In one embodiment, the second acknowledgement signal is sent when the surgical end T _surgical of the surgical tool 200 is proximate to an opening of one of the surgical tool slots of the surgical tool box 300 and the surgical tool axis T _axis is aligned with a tool slot axis of the surgical tool slot. When the surgical tool 200 is placed in the surgical tool slot, the tool slot axis coincides with the surgical tool axis T _axis. Meanwhile, the surgical computer 3 is configured to determine a second spatial pattern, wherein the second spatial pattern is formed by at least one tool box mark 301 and a surgical tool mark 201, or by at least one device mark 105 and at least one tool box mark 301.

In S107, a second control signal is sent to the surgical tool zero-latch interface 106 in the surgical device 100 according to a second acknowledge signal. In one embodiment, after the surgical device 100 receives the second acknowledgement signal, the controller of the surgical device 100 sends the second control signal to the surgical tool zero-latch interface 106.

In S108, the surgical tool 200 is withdrawn from the adapter 104 to a surgical tool cassette 300 according to the second control signal. In one embodiment, the surgical tool 200 is withdrawn from the adapter 104 by a repulsive force provided by the surgical tool zero latch interface 106, wherein repulsive force may be provided by a pressure differential or electromagnetic force within the channel 1041. In another embodiment, the surgical tool zero latch interface 106 withdraws the surgical tool 200 from the adapter 104 and into the surgical tool case 300 by stopping providing an attractive force to cause the surgical tool 200 to drop by gravity.

Fig. 17 illustrates a method of removing a surgical tool 200 already in the surgical device 100, according to an embodiment of the present disclosure. The method comprises the following steps:

In S201, the surgical device 100 receives a third acknowledgement signal. The third acknowledgement signal may be sent by the surgical computer 3 to the surgical device 100. In one embodiment, the third acknowledgement signal is sent when the surgical end T _surgical of the surgical tool 200 is proximate to an opening of one of the surgical tool slots of the surgical tool box 300 and the surgical tool axis T _axis is aligned with a tool slot axis of the surgical tool slot. When the surgical tool 200 is placed in the surgical tool slot, the tool slot axis coincides with the surgical tool axis T _axis. Meanwhile, the surgical computer 3 is configured to determine a second spatial pattern, wherein the second spatial pattern is formed by at least one tool box mark 301 and a surgical tool mark 201, or by at least one device mark 105 and at least one tool box mark 301.

In S202, a third control signal is sent to the surgical tool zero-latch interface 106 in the surgical device 100 according to a third acknowledge signal. In one embodiment, after the surgical device 100 receives the third acknowledgement signal, the controller of the surgical device 100 sends the third control signal to the surgical tool zero-latch interface 106.

In S203, a repulsive force is provided through the surgical tool zero latch interface 106 according to the third control signal. In one embodiment, the gas channel 1061 is configured to provide a repulsive force by sending a control signal to drive the air pump in the housing 102 to provide gas to the channel 1041. In another embodiment, the repulsive force is provided by sending a control signal to drive the electromagnet 1062 to the same polarity as the permanent magnet 202 on the surgical tool 200.

In S204, surgical tool 200 is moved by the repulsive force from the surgical tool zero latch interface 106 and past surgical tool stop 1042 in channel 1041 of adapter 104 of the surgical device 100. In one embodiment, as the surgical tool 200 passes the surgical tool stop 1042, the free end TS _free of the surgical tool stop 1042 is pushed toward the fixed end TS _fixed by the surgical tool 200, allowing the surgical tool 200 to pass over the surgical tool stop 1042.

In S205, the surgical tool 200 is withdrawn from the channel 1041 of the adapter 104 to a surgical tool case 300 by a repulsive force from the surgical tool zero latch interface 106.

Fig. 18 illustrates a method by which surgical device 100 should cope with leakage, according to an embodiment of the present disclosure. The method comprises the following steps:

In S301, the leakage of electricity in the surgical device 100 is detected by a leakage feedback circuit. In one embodiment, the leakage feedback circuit is connected to the power terminal of the rotary interface 1032 or the motor 103. In addition, the leakage feedback circuit is configured to send a feedback signal to the controller disposed in the housing 102.

In S302, upon detection of an electrical leak, a fourth control signal is sent to the surgical tool zero latch interface 106 that is providing an attractive force in the channel 1041 of the adapter 104 of the surgical device 100. The controller transmits the fourth control signal according to the feedback signal transmitted from the leakage feedback circuit.

In S303, attractive force is stopped in the channel 1041 via the surgical tool zero latch interface 106 according to the fourth control signal. The adapter end T _adaptor of the surgical tool 200 is removed from the rotational interface 1032 because the surgical tool 200 falls by gravity from the surgical tool zero-latch interface 106 without providing any attractive force.

In S304, the surgical tool 200 dropped from the motor 103 is caught by the surgical tool stopper 1042 in the passage 1041 after the attractive force is lost. In one embodiment, the surgical tool 200 includes a recess facing the inner wall of the channel 1041, the recess being disposed between the adapter end T _adaptor and the surgical end T _surgical, and the surgical tool stop 1042 being configured to secure the surgical tool 200 by the free end TS _free snapping into the recess.

In S305, when the leakage feedback circuit does not detect leakage, a fifth control signal is sent to the surgical tool zero latch interface 106. In one embodiment, the fifth control signal is sent by the controller of the surgical device 100 to the surgical tool zero latch interface 106 when the leakage feedback circuit does not detect leakage.

In S306, an attractive force is provided through the surgical tool zero latch interface 106 according to the fifth control signal. In one embodiment, the gas channel 1061 provides a pressure differential to the channel 1041 by sending a control signal to drive the gas pump in the housing 102, thereby providing an attractive force, such as drawing gas away from the channel 1041. In another embodiment, attractive force is provided by sending a control signal to drive the electromagnet 1062 to a polarity different from the polarity of the permanent magnet 202 on the surgical tool 200.

In S307, the surgical tool 200 is pulled from the surgical tool stop 1042 toward the motor 103 and held to the motor 103 with an attractive force from the surgical tool zero-latch interface 106. When the surgical tool zero latch interface 106 provides an attractive force, the surgical tool 200 presses against the surgical tool stop 1042 and slides over the surgical tool stop 1042. As a result, the adapter end T _adaptor of the surgical tool 200 moves toward and attaches to the rotary interface 1032 of the motor 103. The adapter end T _adaptor is held to the rotational interface 1032 by continuing to provide an attractive force to perform a surgical operation.

A macroscopic calibration operation method between the surgical device 100 and the surgical tool 200 using the spatial pattern SP and the geometric relationship GR is depicted in fig. 19-21 according to an embodiment of the present disclosure. The macro calibration is used to ensure that the surgical tool 200 is properly mounted to the surgical device 100. Fig. 19 illustrates a spatial pattern SP formed by a plurality of device markers 105 and a surgical tool marker 201, according to an embodiment of the present disclosure. Fig. 20 schematically illustrates the spatial pattern SP of fig. 19 for clarity of description. Fig. 21 presents the spatial pattern SP and the geometric relationship GR according to an embodiment of the present disclosure. In one embodiment, a tracker device (e.g., tracker 4 shown in fig. 1) is configured to obtain light signals from the plurality of device markers 105 a-105 c and the surgical tool marker 201. The tracker device may then generate a plurality of coordinates (e.g., cartesian coordinates, cylindrical coordinates, spherical coordinates) corresponding to the locations at which the plurality of markers are observed from the light signals it receives. For example, coordinates (X ₁,Y₁,Z₁) may be assigned to the device marker 105a, likewise, the device marker 105b has coordinates (X ₂,Y₂,Z₂), the device marker 105c has coordinates (X ₃,Y₃,Z₃), and the surgical tool marker 201 has coordinates (X ₄,Y₄,Z₄). Also, the coordinates (X₁,Y₁,Z₁)、(X₂,Y₂,Z₂)、(X₃,Y₃,Z₃) and (X ₄,Y₄,Z₄) collectively represent the spatial pattern SP formed between the marks.

As shown in fig. 21, a three-dimensional (3D) geometry GR, representing the surgical tool 200 being properly held in the rotational interface 1032, may be stored in the surgical computer 3 as shown in fig. 1. In this way, the coordinates of the spatial pattern SP observed by the tracker 4 can be sent to the surgical computer 3 to be compared with the 3D geometrical relationship GR. The surgical computer 3D is configured to determine whether the surgical tool 200 is properly mounted to the surgical device 100 based on the comparison. For example, as shown in fig. 21, when the coordinates of the spatial pattern SP do not match the 3D geometric relationship GR, the surgical computer 3 may recognize that the surgical tool 200 is not properly mounted to the surgical device 100.

It should be noted that fig. 21 exaggeratedly presents the deviation between the 3D geometric relation GR and the coordinates of the spatial pattern SP for the sake of clarity of description. In practice, the deviation between the 3D geometry GR and the coordinates of the spatial pattern SP may be as small as the detection limit of the tracker 4. In fact, each tracker device has a default resolution that determines how small an amount of motion a marker can be detected by the tracker device. Accordingly, the detection limit may be defined as the minimum amount of motion that the tracker device can detect, for example, about 0.3mm. In other words, the tracker 4 cannot detect a movement of the device marker 105 or the surgical tool marker 201 that is less than the detection limit. However, any movement of the marker that is not detected by the tracker may lead to uncertainty in the surgical procedure. For example, a 0.1mm deviation of the surgical tool indicia 201 may be a significant deviation at the surgical end T _surgical of the surgical tool 200. Thus, a microscopic calibration operation may be performed on individual markers (e.g., surgical tool marker 201, device markers 105a, 105b, and 105 c) according to the allowable range, thereby ensuring that the location of each marker is centered on its assigned coordinates. In this way, the accuracy of the installation (and the accuracy of the surgical operation) between the surgical device 100 and the surgical tool 200 can be further improved.

The microscopic calibration is further illustrated in fig. 22 and 23, according to an embodiment of the present disclosure. Fig. 22 shows that the spatial pattern SP almost but not exactly matches the geometric relation GR according to an embodiment of the present disclosure. In this case, since all coordinates of the spatial pattern SP correspondingly fall within a plurality of allowable ranges AA, the surgical tool 200 is determined to be properly mounted to the surgical device, wherein the determination is not as accurate as expected. Fig. 23 illustrates marks within an acceptable range AA according to one embodiment of the present disclosure. In one embodiment of the present disclosure, the surgical computer 3 is configured to define a permissible range AA for each coordinate in the coordinate system (e.g., cartesian coordinate system) of the tracker 4, and the markers in the permissible range AA can be recognized by the tracker 4 as the corresponding coordinates of the permissible range AA assigned to the surgical computer 3. For example, as shown in fig. 23, the coordinates (X ₄,Y₄,Z₄) may be assigned to the surgical tool indicia 201 within the acceptable range AA (X ₄,Y₄,Z₄).

In one embodiment, the acceptable range AA (X ₄,Y₄,Z₄) is a sphere, and the radius of the sphere is defined as the sum of the detection limit and the radius of the surgical tool mark 201. As described above, as long as the surgical tool mark 201 stays within the allowable range AA (X ₄,Y₄,Z₄), the tracker 4 cannot detect the movement of the surgical tool mark 201 due to the detection limit, in other words, the coordinates of the surgical tool mark 201 are not changed or reassigned. Thus, the tracker 4 cannot detect the exact position of the surgical tool marker 201 within an acceptable range AA (e.g., AA (X ₄,Y₄,Z₄)). In this case, the surgical device 100 may perform the microscopic calibration. In an embodiment, the surgical device 100 is configured to calibrate the position of the surgical tool indicia 201 within the acceptable range AA (X ₄,Y₄,Z₄) by the multi-axis motion stage 101. More specifically, the position of the surgical tool mark 201 may be calibrated by moving the surgical tool mark center TMC of the surgical tool mark 201 and coinciding with the acceptable range center AAC. The vector of movements required for the surgical tool mark center TMC to coincide with the acceptable range center AAC is referred to as the center deviation CD, which is defined in terms of the straight-line distance and direction between the two. And, the center deviation CD may be determined by the operation computer 3. In one embodiment, the center deviation CD is determined as follows:

As an example, the surgical tool indicia 201 is in an initial position within the acceptable range AA under cartesian coordinates of the tracker 4.

The surgical tool indicia 201 is moved in a first direction (e.g., along the X-axis of the cartesian system) until the edge of the acceptable range AA is reached, whereby a second plurality of motion encoders of the multi-axis motion platform 101 register a distance of movement D ₁, and the surgical tool indicia 201 is then moved back to the initial position.

The surgical tool indicia 201 is moved in a second direction (e.g., along the Y-axis of the cartesian system) until the edge of the acceptable range AA is reached, whereby a second plurality of motion encoders of the multi-axis motion platform 101 register a distance of movement D ₂, and the surgical tool indicia 201 is then moved back to the initial position.

The surgical tool indicia 201 is moved in a third direction (e.g., along the Z-axis of the cartesian system) until the edge of the acceptable range AA is reached, whereby a second plurality of motion encoders of the multi-axis motion platform 101 register a distance of movement D ₃, and the surgical tool indicia 201 is then moved back to the initial position.

It should be noted that the first direction, the second direction and the third direction are three different directions, and the angular relationship between the three is known. It should also be noted that when a change in the coordinates of the surgical tool indicia 201 is detected by the tracker 4, it may be determined that the edge of the acceptable range AA is reached, in other words that the motion of the surgical tool indicia 201 is greater than the detection limit. For example, when the surgical tool mark 201 passes over the edge of the acceptable range AA (X ₄,Y₄,Z₄), the tracker 4 recognizes that the coordinates of the mark 201 change from (X ₄,Y₄,Z₄) to different coordinates, thus reaching the edge of the acceptable range AA (X ₄,Y₄,Z₄). The moving distances D ₁、D₂ and D ₃ are sent to the surgical computer 3, and the center deviation CD is determined by the surgical computer 3 using the moving distance D ₁、D₂、D₃ and the angular relationships among the first, second and third directions. Thus, the surgical tool indicia 201 may be moved by the multi-axis motion platform 101 to be located at the acceptable range center AAC according to the center deviation CD.

Although surgical tool indicia 201 is given as an example to allow microscopic calibration within the scope, the same calibration techniques may be applied to the device indicia 105. In an embodiment of the present disclosure, after calibrating the position of the surgical tool mark 201 to coincide with the acceptable range center AAC, the surgical device 100 may be moved by the robot arm 5 while maintaining the surgical tool mark 201 stationary, thereby moving and calibrating the device mark 105 of the surgical device 100. In this case, the multi-axis motion stage 101 moves the surgical tool indicia 201 in opposite directions for each motion of the device indicia 105 during calibration, thereby maintaining the calibrated position of the surgical tool indicia 201. Accordingly, the accuracy of automatically mounting the surgical tool 200 to the surgical device 100 may be improved after the device indicia 105 and the surgical tool indicia 201 are calibrated within the respective acceptable ranges.

In another embodiment of the present disclosure, microscopic calibration of the device marker 105 may be performed by the multi-axis motion platform 101 while the surgical tool 200 mounted to the surgical device 100 is still within the surgical tool case 300. In this case, the position of the surgical tool case 300 is configured to be fixed in a surgical environment, so the position of the moving end 1013 of the multi-axis motion platform 101 and the surgical tool indicia 201 are both indirectly limited to the surgical tool case 300. The robotic arm 5 connected to the surgical device 100 is configured to passively move (i.e., a passive linkage) through the stabilizing end 1011 of the multi-axis motion stage 101, so that the stabilizing end 1011 and the device marker 105 can move relative to the moving end 1013 and the surgical tool marker 201, such that microscopic calibration of the device marker 105 can be performed. It should be noted that there is no particular order for microscopic calibration of both the surgical tool indicia 201 and the device indicia 105.

The embodiments shown and described above are examples only. Many details are common in the art and therefore are not shown or described. Even though numerous characteristics, advantages, and details of structure and function of the present technology have been set forth in the foregoing description, this disclosure is illustrative only, and changes may be made in detail, especially in matters of shape, size, and arrangement of parts within the principles of the present disclosure to the full extent of the broad general meaning of the terms in which the claims are expressed. It is therefore to be understood that within the scope of the appended claims, the above embodiments may be modified.

Claims

1. A surgical device for holding a surgical tool, comprising:

a multi-axis motion platform having a stable end and a moving end, the multi-axis motion platform being configured to generate relative motion between the moving end and the stable end;

A housing, fixed to the stabilizing end of the multi-axis motion platform;

a motor having a rotation interface, wherein when the surgical tool is held on the rotation interface, the motor is configured to rotate the surgical tool through the rotation interface;

an adapter connected to the multi-axis motion platform and directionally fixed to the motion end of the multi-axis motion platform, the adapter being configured to move with the motion end, and comprising:

One motor end,

A surgical tool end,

a surgical tool stopper disposed between the motor end and the surgical tool end, and

a channel extending between the motor end and the surgical tool end,

wherein the channel is configured to receive the rotary interface from the motor end and receive the surgical tool from the surgical tool end,

The surgical tool stopper has a fixed end fixed to the adapter, a free end extending to the channel, and an elastic member disposed between the free end and the fixed end.

Wherein, the elastic member is configured to reset the free end pushed toward the fixed end,

wherein, when the surgical tool falls from the rotating interface, the surgical tool stopper is configured to catch the surgical tool in the channel through the free end;

A surgical tool zero latch interface is exposed in the channel of the adapter and is configured to provide an attractive force in the channel to retain the surgical tool in the rotational interface.

2. The surgical device as described in claim 1 is characterized in that the surgical tool stopper keeps a distance from the surgical tool when the surgical tool is held on the rotating interface.

3. The surgical device as described in claim 1 is characterized in that the free end of the surgical tool stopper includes a ball, and the ball contacts the surgical tool when the surgical tool is held on the rotating interface, wherein the ball is configured to rotate freely to reduce friction between the surgical tool stopper and the surgical tool.

4. The surgical device as described in claim 1 further includes a leakage feedback circuit, which is coupled to the motor and configured to detect leakage, wherein the surgical tool zero latch interface is further configured to stop providing attraction after the leakage feedback circuit detects leakage.

5. The surgical device as described in claim 4 is characterized in that when the leakage feedback circuit detects the leakage, the surgical tool stopper is further configured to maintain insulation between the surgical tool and the rotating interface of the motor when the surgical tool is fixed in the adapter.

6. The surgical device as described in claim 1 is characterized in that the surgical tool zero latch interface is further configured to provide an attractive force to the surgical tool so that it passes over the surgical tool stopper, whereby the surgical tool is moved from outside the channel of the adapter to inside, and the surgical tool is held at the rotational interface.

7. The surgical device as described in claim 1 is characterized in that the surgical tool zero latch interface is further configured to provide a repulsive force to the surgical tool so that it passes over the surgical tool stopper, whereby the surgical tool is separated from the rotational interface and the surgical tool is moved from inside the channel of the adapter to outside.

8. The surgical device as described in claim 1 is characterized in that the adapter further includes a bearing, which is exposed in the channel and is arranged between the motor end of the adapter and the surgical tool stopper, and the bearing is configured to stabilize the rotation of the surgical tool.

9. The surgical device as described in claim 8 is characterized in that the surgical tool is only in physical contact with the surgical tool zero latch interface, the rotating interface and the bearing when the surgical tool zero latch interface holds the surgical tool on the rotating interface.

10. The surgical device as described in claim 1 is characterized in that the surgical tool zero latch interface includes a gas channel extending within the rotating interface and communicating with the channel fluid of the adapter, wherein the gas channel is configured to allow gas to flow therethrough, and the surgical tool zero latch interface is further configured to provide a repulsive force, wherein the surgical tool zero latch interface provides attractive and repulsive forces through the pressure difference generated by the gas channel.

11. The surgical device as described in claim 1 is characterized in that it further includes an air pump disposed within the shell and connected to the surgical tool zero latch interface, the air pump being in fluid communication with the channel of the adapter through the surgical tool zero latch interface, wherein the air pump is configured to draw gas out of the channel of the adapter via the surgical tool zero latch interface to generate an attractive force, and the air pump is further configured to inject gas into the channel of the adapter via the surgical tool zero latch interface to generate a repulsive force.

12. The surgical device as described in claim 1 is characterized in that the surgical tool zero latch interface includes an electromagnet configured to generate electromagnetic attraction and repulsion, wherein the attraction is generated by making the polarity of the electromagnet different from that of the surgical tool, and the repulsion is generated by making the polarity of the electromagnet the same as that of the surgical tool.

13. The surgical device as described in claim 1 is characterized in that the adapter further includes a connecting portion disposed outside the surgical tool end of the adapter, and the surgical tool includes a marking support, wherein the connecting portion is configured to connect the marking support of the surgical tool to fix the marking support to the adapter when the surgical tool rotates along the rotating interface.

14. The surgical device of claim 13, further comprising the surgical tool, the surgical tool having a first end and a second end, the surgical tool comprising:

A surgical tool body extends from the first end and the second end;

The marking support is disposed between the first end and the second end and closer to the first end;

a marking bearing disposed between the surgical tool body and the marking support, and the marking bearing is configured to facilitate free rotation of the marking support around the surgical tool body;

The rotation axis of the marking support defines a surgical tool axis.

15. The surgical device as described in claim 14 is characterized in that the surgical tool further includes a first directional element fixed to the marking support and a second directional element fixed to the surgical tool body; wherein the first directional element is arranged between the marking support and the second directional element; wherein, when observed along the surgical tool axis, the first directional element and the second directional element have the same cross-sectional shape.

16. The surgical device as described in claim 15 is characterized in that the motor is configured to rotate the surgical tool so that the cross-sectional shape of the second directional element coincides with the cross-sectional shape of the first directional element, thereby placing the first directional element and the second directional element into a directional surgical tool slot.

17. The surgical device of claim 15, wherein the first directional element and the second directional element each comprise an irregular polygonal profile when viewed along the surgical tool axis.

18. The surgical device of claim 15, wherein the first directional element and the second directional element have non-polygonal shapes lacking rotational symmetry when viewed along the surgical tool axis.

19. The surgical device as described in claim 1 further includes the surgical tool, which has a first end and a second end, and the surgical tool includes a reference mark; wherein a surgical tool axis of the surgical tool is defined as extending between the first end and the second end; wherein the reference mark is axially symmetrical with the surgical tool axis and is coaxially connected to the surgical tool.

20. The surgical device as described in claim 1 further includes the surgical tool, which has a first end and a second end, and the surgical tool includes a permanent magnet and a bearing connected between the surgical tool and the permanent magnet; wherein the permanent magnet is located between the first end and the second end of the surgical tool and closer to the first end; wherein the permanent magnet is configured to respond to the attractive force provided by the zero latch interface of the surgical tool.

21. The surgical device as described in claim 1 further includes a set of first reference marks and the surgical tool, and the surgical tool includes a second reference mark, wherein the set of first reference marks and the second reference mark are configured to form a spatial pattern recognizable by an optical sensor, wherein the spatial pattern includes multiple coordinates, and the match between the multiple coordinates of the spatial pattern and a geometric relationship represents that the surgical tool is correctly held on the rotating interface.