CN109330691B

CN109330691B - Slave operating equipment assembly with multiple operating arms and surgical robot

Info

Publication number: CN109330691B
Application number: CN201811228513.2A
Authority: CN
Inventors: 王建辰; 其他发明人请求不公开姓名
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2018-07-31
Filing date: 2018-10-22
Publication date: 2020-06-16
Anticipated expiration: 2038-10-22
Also published as: WO2020024946A1; CN109330696B; CN109330689B; CN109330693B; CN109330693A; CN109330700B; CN109330692B; CN109330698A; CN109330700A; CN109330699B; CN109330695B; CN109330689A; CN210185692U; CN109330692A; CN109330690B; CN109330697A; CN109330699A; CN109330694B; CN109330690A; CN109330698B

Abstract

The present invention relates to a slave manipulator assembly and a surgical robot having a plurality of manipulator arms, the slave manipulator assembly including: the three operation arms are provided with main bodies, a plurality of main bodies are adjacently arranged, so that the plurality of operation arms extend into the body from one incision, and the parts of the main bodies, which are positioned in the incision area, are sequentially arranged in a straight line.

Description

Slave operating equipment assembly with multiple operating arms and surgical robot

Technical Field

The invention relates to the field of minimally invasive surgery, in particular to a slave operation equipment assembly and a surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation.

The slave operation device has an operation arm for extending into the body and performing a corresponding operation, and is limited by the operation position, and a plurality of operation arms are difficult to extend into the body from one slit, so that the application range of the surgical robot is limited.

Disclosure of Invention

In view of the above, it is desirable to provide a slave manipulator assembly and a surgical robot that can be inserted into a body from a slit.

A slave manipulator assembly having multiple manipulator arms, comprising: the three operation arms are provided with main bodies, a plurality of main bodies are adjacently arranged, so that the plurality of operation arms extend into the body from one incision, and the parts of the main bodies, which are positioned in the incision area, are sequentially arranged in a straight line.

A surgical robot comprises the slave operation equipment assembly and a master operation table.

Drawings

FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

FIG. 2 and FIG. 3 are partial schematic views of different embodiments of the slave operation device according to the present invention;

FIG. 4 and FIG. 5 are schematic structural diagrams of the slave operation device assembly according to an embodiment of the present invention in different states;

FIG. 6 and FIG. 7 are schematic structural diagrams of the slave operation device assembly according to an embodiment of the present invention in different states;

FIG. 8 and FIG. 9 are schematic structural diagrams of the slave operation device assembly according to an embodiment of the present invention in different states;

FIG. 10 and FIG. 11 are schematic structural diagrams illustrating different states of a slave operation device assembly according to an embodiment of the present invention;

FIG. 12 and FIG. 13 are schematic structural diagrams of the slave operation device assembly according to an embodiment of the present invention in different states;

FIG. 14 and FIG. 15 are schematic structural diagrams illustrating different states of a slave operation device assembly according to an embodiment of the present invention;

FIGS. 16 and 17 are schematic structural diagrams of different states of a slave operation device assembly according to an embodiment of the present invention;

FIGS. 18 and 19 are schematic structural diagrams of different states of a slave operation device assembly according to an embodiment of the present invention;

FIGS. 20 and 21 are schematic structural views of the operation arm in the embodiment shown in FIGS. 18 and 19, respectively;

FIG. 22 and FIG. 23 are schematic structural diagrams illustrating different states of a slave operation device assembly according to an embodiment of the present invention;

FIG. 24 is a schematic structural diagram according to an embodiment of the present invention;

FIGS. 25 and 26 are schematic structural diagrams of different states of a slave manipulator assembly according to an embodiment of the present invention;

FIG. 27 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 28 is a partial block diagram of a slave manipulator assembly according to an embodiment of the present invention;

FIG. 29 is a schematic diagram of the structure of one embodiment of the slave manipulator assembly of the present invention;

fig. 30 and 31 are a schematic structural diagram and a partial schematic diagram of an embodiment of the invention, respectively;

FIG. 32 is a schematic diagram of the slave manipulator assembly of one embodiment of the present invention;

FIG. 33 and FIG. 34 are a partial cross-sectional view and an enlarged view at A, respectively, of an embodiment of the present invention;

fig. 35 and 36 are partial cross-sectional views of different embodiments of slave manipulator assemblies of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

As shown in fig. 1 to 3, the surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 is configured to transmit a control command to the slave operating device 2 according to a doctor's operation to control the slave operating device 2, and is configured to display an image acquired by the slave operating device 2. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.

Specifically, the slave manipulation apparatus 2 includes a robot arm 10, a power mechanism 20 provided on the robot arm 10, a manipulation arm 30 provided on the power mechanism 20, and a sleeve pipe that sleeves the manipulation arm 30. The mechanical arm 10 is used for adjusting the position and posture of the operation arm 30; the power mechanism 20 is used for driving the operating arm 30 to perform corresponding operations; manipulator arm 30 is configured to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument 320. Specifically, as shown in fig. 2 and 3, the operation arm 30 is inserted into the cannula, and the distal end device 320 thereof extends out of the cannula and is driven to perform the operation by the power mechanism 20. In fig. 2, the region of the operating arm 30 inside the casing is a rigid region; in fig. 3, the region of the operating arm 30 located within the sleeve is a flexible region, and the sleeve bends with the flexible region. In other embodiments, the sleeve may be omitted, in which case the sleeve is not required.

In one embodiment, the robotic arm is disposed on a base for placement on the ground. Further, the base has moving wheels thereon to facilitate adjustment of the position of the slave operating device. In other embodiments, the base may be mounted to a ceiling or other elevated area to suspend the robot arm, such as a wall. Alternatively, the base may be provided on the operating bed.

In one embodiment, a plurality of operation arms 30 are disposed on the same power mechanism 20, and the distal ends of the plurality of operation arms 30 extend into the body through an incision on the body, so that the distal end instrument 320 thereof is moved to the vicinity of the lesion 3 for performing the surgical operation. Specifically, the power mechanism is provided with a plurality of power parts, and each power part is correspondingly connected with one operation arm. In other embodiments, there are a plurality of power mechanisms, each power mechanism 20 is provided with one operating arm 30, and the plurality of operating arms extend into the body from one notch, and at this time, the plurality of power mechanisms 20 may be disposed on one mechanical arm 10, or may be disposed on a plurality of mechanical arms 10. It should be noted that a plurality of manipulation arms 30 may also extend into the body from a plurality of incisions, e.g., two manipulation arms in each incision, and e.g., one manipulation arm in each incision.

In an embodiment, the slave operation device 2 further includes a poking card, the poking card is used for penetrating through an incision on a human body and is fixedly arranged in an incision area, and the operation arm extends into the human body through the poking card.

Fig. 4 to 11 are schematic structural diagrams of different embodiments of the slave operation device assembly according to the present invention. The slave manipulator assembly comprises three manipulator arms 30, each manipulator arm 30 having a body 310 and a distal instrument 320 disposed on the body 310, the plurality of bodies 310 being adjacently disposed such that the bodies 310 of the plurality of manipulator arms 30 extend into the body from an incision.

In one embodiment, the main body 310 is a rod structure, for example, the main body 310 is a straight rod, and a plurality of straight rods are adjacently disposed; for another example, the main body 310 is a bent rod, and the distal ends of the plurality of main bodies 310 are disposed adjacently; for another example, the plurality of bodies substantially abut one another at least in a central region to extend from an incision into the body. The body 310 may be an elastic body 310, i.e., having a certain elastic deformation, or may not have an elastic deformation. In one embodiment, the main body 310 is a flexible main body 310, i.e. the main body 310 itself can adjust the position and posture, and the distal ends of a plurality of flexible main bodies 310 are adjacently arranged to extend into the body from one incision. In one embodiment, the main body of the plurality of operating arms is a rod structure, and the main body is a flexible body.

In one embodiment, the plurality of bodies 310 are substantially abutted in sequence in the cut-out region to make the plurality of bodies 310 more compact. In other embodiments, the plurality of main bodies 310 may be sequentially spaced in the cut-out region, for example, the distance between two main bodies 310 is 2-100 mm, so that the slave operation device assembly has a larger operation space and the operation arm 30 has a larger operation range in vivo. Specifically, the distance between the two main bodies can be 5-15 mm, 3-10 mm, 4-20 mm and the like. In other embodiments, the plurality of bodies 310 may be partially abutted and partially spaced apart in the cut-out region.

In one embodiment, a body 310 is provided on each manipulator arm 30, and each body 310 is coupled to an end instrument 320. In other embodiments, one manipulator arm may comprise a plurality of bodies; multiple end instruments may also be attached to a single body. For convenience of description, the following embodiments are each provided with a main body on each manipulator arm, and each main body is provided with a terminal instrument. It will be appreciated that a plurality of bodies may be provided on a single operating arm as required; a plurality of end instruments may also be provided on a single body, wherein the end instruments may be of the same or different types.

In the embodiment shown in fig. 4 and 5, the portions of the plurality of main bodies 310 of the operating arm 30 located in the cut-out regions are sequentially arranged in a straight line. The number of the operation arms 30 may be other, for example, four or five operation arms 30, and the portions of the main bodies 310 of the plurality of operation arms 30 located in the cutout regions are sequentially arranged in a straight line.

The above-described slave manipulator assembly, due to the plurality of bodies 310 arranged in a straight line, can be inserted into the body from the strip incision, and further can be inserted into the body from a narrow region to perform a surgical operation, for example, from between ribs.

The portions of the bodies 310 of the plurality of arms 30 in the cutout areas may also be compactly arranged, and in one embodiment, the plurality of arms 30 are arranged in a triangular pattern. For example, in the embodiment shown in fig. 3, there are three main bodies 310, and the three main bodies 310 are distributed in a triangle, wherein the triangle may be an isosceles triangle or an equilateral triangle. For another example, in the embodiment shown in fig. 6 and 7, the operation arm 30 includes four operation arms 30, the main bodies 310 of the four operation arms 30 are arranged in a triangle, wherein three main bodies 310 are arranged along a straight line and form one side of the triangle, and the other main body 310 forms the other two sides of the triangle with the two main bodies 310 located at the side edge. Further, the other two sides of the triangle are the same length, i.e., the two sides formed by the two bodies 310 of the manipulating arm 30 are the same length. For another example, in the embodiment shown in fig. 8 and 9, the operation arm 30 includes four, three of the main bodies 310 are distributed in a triangular shape and distributed along the circumference of the other main body 310, and three of the triangular main bodies 310 may be evenly distributed along the circumference of the other operation arm 30.

In other embodiments, the main bodies 310 of the plurality of operation arms 30 in the cut-out region may be distributed in a quadrilateral shape. For example, in the embodiment shown in fig. 10 and 11, the number of the main bodies 310 is four, and the portions thereof located in the cut-out area are distributed in a rectangular shape or a parallelogram shape. For another example, the number of the main bodies 310 is five, and one side of the quadrangle includes three main bodies 310 arranged along a straight line.

It should be noted that the main bodies 310 of the plurality of operation arms 30 may be arranged in a plurality of rows according to actual needs. For example, the plurality of operation arms 30 are arranged in three rows. For another example, the plurality of operating arms are arranged in four rows.

In one embodiment, the cross-sectional dimensions of the body 310 in the cut-out region are substantially the same, wherein the dimensions include cross-sectional shape and size. For example, the body 310 is circular in cross-section at the cut-out portion, and has the same diameter. In other embodiments, the cross-sectional dimensions of the body 310 in the cut-out region may be different, or may be different in some cases. For example, the cross-sectional shapes of the body 310 at the cut-out region portions are the same and different in size. Wherein the plurality of bodies 310 may be sequentially arranged along a straight line according to the size of the cross-section. For example, the plurality of bodies 310 are arranged in a diameter size in order of a cross-sectional size ranging from small to large, and particularly, the cross-section of the body 310 at the cut region portion is circular. For another example, the plurality of bodies 310 are arranged in such a manner that the size of the cross section is large in the middle and small at both ends. For another example, the cross-sections of the plurality of bodies in the cut-out region portion are all circular, wherein the radii of the cross-sections of the portions of the bodies are the same. It should be noted that the cross-sectional specifications of the main body parts may be the same, at least partially the same, or different.

The lengths of the plurality of bodies may be the same or different to meet different requirements.

The operation arm 30 includes a first operation arm 31 and a second operation arm 32. The first operation arm 31 has a first body 311 and an operation portion 312 disposed on the first body 311, and the second operation arm 32 includes a second body 321 and an image portion 322 disposed on the second body 321, wherein the operation portion 312 and the image portion 322 are both end instruments 320. When performing an operation, the image unit 322 and the operation unit 312 are both located in the body, wherein the image unit 322 is used for acquiring an in-vivo image, and the operation unit 312 is used for performing an operation.

The diameters of the first and second manipulation arms in the cut-out region may be the same or different, and for example, the diameter of the second body may be larger than the diameter of the first body.

In one embodiment, the slave manipulator assembly includes two manipulating portions 312 and an image portion 322, wherein the two manipulating portions 312 are located between the image portion 322 and the lesion (as shown in fig. 3). Both of the operation units 312 are located between the image unit 322 and the lesion, and when the image unit 322 is located at the maximum distance from the lesion, the limit position of the operation unit 312 in the same direction is located between the image unit 322 and the lesion. In this way, when a surgical operation is performed from the operation device assembly, a better field of view can be obtained, and the operation portion 312 has a larger operation space.

When the number of the operation portions is three or more, all of the operation portions may be located between the image portion 322 and the lesion, or at least two of the operation portions may be located between the image portion 322 and the lesion. When there are a plurality of image portions 322, the operation portions 312 are all located between the image portion 322 farthest from the lesion and the lesion, or a part of the operation portions 312 are located between the image portion 322 farthest from the lesion and the lesion, that is, the operation portion 312 is located farthest from the lesion at this time.

In other embodiments, when the image portion 322 is located at the maximum distance from the lesion, the extreme position of the operating portion 312 in the same direction may be flush with the position of the image portion 322, or the image portion 322 may be located between the operating portion 312 and the lesion.

In one embodiment, the number of the operation portions 312 is two, and the limit position of the image portion 322 is located between the two operation portions 312 when the image portion 322 is located between the two operation portions 312, that is, when the distance between the two operation portions 312 is the largest (as shown in fig. 3 and 4). For example, the image portion 322 is located in the middle region of the two operation portions 312. In other embodiments, the image portion 322 may be located on one side of the two operation arms 30.

When the number of the operation portions 312 is three or more, the image portion 322 is located between two operation portions 312 having the largest distance among the plurality of operation portions 312. The two operation portions 312 having the largest distance may be the operation portions 312 on the main bodies 310 positioned at both ends among the plurality of main bodies 310 arranged in a certain direction, or the operation portions 312 on the main body 310 in the middle region; the two operation portions 312 having the largest distance may be the operation portions 312 on the two main bodies 310 in one row arranged in a certain direction, or the operation portions 312 on the two main bodies 310 in different rows. In an embodiment, when the distance from the image portion 322 to the connection line of the two farthest operation portions 312 is farthest, the image portion 322 is located in the middle area of the two farthest operation portions 312, it can also be understood that, when the image portion 322 and the two farthest operation portions 312 are distributed in an equilateral triangle or along a straight line, and are distributed in an equilateral triangle, the distance from the image portion 322 to the side formed by the operation portions 312 is the limit position of the image portion 322 in the direction. In other embodiments, the image portion 322 may be close to one of the operation portions 312. Or in other embodiments, the image portion 322 is located between two of the operation portions 312, that is, when the distance between the two operation portions 312 is the largest, the image portion 322 is located between the two operation portions 312.

The plurality of bodies 310 are arranged in the cutout region in a manner corresponding to the position and shape of the cutout. Which is the same as the above embodiments and will not be repeated here. When the body 310 includes the first body 311 and the second body 321, they may be arranged as needed.

In the embodiment shown in fig. 4 and 5, the operating arm 30 includes two first bodies 311, one second body 321, and a plurality of the first bodies 311 and the second bodies 321 are distributed along a straight line. The second body 321 is located between the two first bodies 311, so that the image is located between the two operation portions 312, and the operation portions 312 can obtain a larger operation range under the monitoring of the image portion 322.

In other embodiments, the second body 321 may be located at an end of the plurality of bodies 310 arranged in a row, wherein when the arrangement direction of the plurality of bodies 310 is directed to the lesion, the second body 321 is far away from the lesion relative to the first body 311, so that the two operation arms 30 are located between the image portion 322 and the lesion.

When the bodies 310 of the manipulator arm 30 are arranged in a multi-beat manner, in one embodiment, one row far away from the lesion includes the second body 321, and the remaining rows may be the first body 311 or part of the second body 321.

In the embodiment shown in fig. 6 and 7, the main bodies 310 of the three operation arms 30 are arranged in a straight line, and the other operation arm 30 is the second operation arm 32. Among them, the distal end instrument 320 of the manipulator arm 30 arranged along the straight line, i.e., the manipulator 312 or the image section 322, is located between the image section 322 of the manipulator arm 30 not arranged along the straight line with the other three manipulator arms 30 and the lesion, for example, the three bodies 310 arranged along the straight line are located between the other body 310 and the lesion. The three bodies 310 arranged along the straight line may include the second body 321, or may be all the first bodies 311. In this embodiment, the three linearly arranged operation arms are all the first bodies, and in other embodiments, the three linearly arranged operation arms 30 include one second body 321 located between the other two bodies 310. In other embodiments, the main bodies 310 of the three operation arms 30 are arranged in a straight line, and another operation arm 30 may be the first operation arm 31. Alternatively, another end device 320 of an arm 30 that is not aligned with the other arms 30 may be located between the end device 320 of the other arm 30 and the lesion.

When the bodies 310 of the manipulator 30 are arranged in three or more rows, in one embodiment, the row far from the lesion is the second body 321, and the middle row and the row near the lesion are the first bodies 311. For example, the middle row includes at least two first bodies 311, with at least one first body 311 of a row near the lesion between two first bodies 311 of the middle row. As another example, in the embodiment shown in fig. 10 and 11, the bodies 310 of the plurality of operation arms 30 are distributed in a quadrilateral shape, wherein the body 310 away from the lesion is a second body 321, and the other bodies 310 are located between the second body 321 and the lesion. In this embodiment, the three remaining bodies 310 are the first bodies 311, and in other embodiments, the three remaining bodies 310 may include the second body 321, so that the image portion 322 disposed thereon and the image portion 322 far from the lesion may be obtained together. For example, the body 310 near the lesion is the second body 321. Further, the second body 321 near the lesion is located in the middle of the two first bodies 311.

In other embodiments, the second manipulating arm 32 may not be provided in the plurality of manipulating arms 30 extending from the manipulating device assembly into the body through one incision, and the second manipulating arm 32 may extend from another incision into the body to obtain a better field of view. The arrangement of the bodies of the respective operation arms 30 may be the same as those of the above-described embodiments, or may be the same as that of the above-described embodiments in which the second operation arm 32 is replaced with the first operation arm 31.

For example, the number of the first manipulation arms 31 is three, and the main bodies 310 of the three first manipulation arms 31 are distributed along a straight line. For another example, the number of the first operation arms 31 is four, the main bodies 310 of the four operation arms 30 are distributed in a triangle, and one side of the triangle includes three main bodies 310. As another example, the number of the first operation arms 31 is four, and the main bodies 310 of the three operation arms 30 are distributed in a triangle. For another example, the number of the first manipulation arms 31 is four, three bodies 310 are linearly arranged, and the other body 310 is located between the first body 311 of the manipulation arm 30 arranged in a row and the lesion.

The arrangement of the plurality of bodies 310 and the arrangement of the plurality of distal end instruments 320 may or may not correspond to each other. The arrangement of the main body 310 may be the arrangement of the main body 310 in the cut-out region, or the arrangement of the distal end of the main body 310. It should be noted that, for convenience of description, the arrangement of the main body in the incision region is the same as the arrangement of the distal end of the main body in each embodiment of the present invention, and it should be understood that the arrangement of the region of the main body in the incision may be different from the arrangement of the distal end of the main body, but the terminal instruments connected thereto are the same as the arrangement of the terminal instruments in each embodiment.

In one embodiment, the relative positions and arrangement of the operation portion 312 and the image portion 322 correspond to the position arrangement of the first body 311 and the second body 321. For example, when the operation unit 312 is located between the image unit 322 and the lesion, the first body 311 is located between the second body 321 and the lesion; for another example, when the image portion 322 is located between the two operation portions 312, the second body 321 is located between the two first bodies 311. In other embodiments, the relative position arrangement of the distal end instrument 320 may be different from the position and arrangement of the main bodies 310, for example, when the operation portion 312 is located between the image portion 322 and the lesion, the first main body 311 connecting the operation portion and the second main body 321 connecting the image portion are arranged along a straight line. For another example, the three first bodies 311 are arranged in sequence, wherein the operation parts 312 of two adjacent bodies 310 are located at both sides of the operation part 312 of the other body 310.

The operation arm 30 further includes a connecting assembly 340, two ends of the connecting assembly 340 of the first operation arm 31 are respectively connected to the first main body 311 and the operation portion 312, so that the first operation arm 31 can adjust the position and the posture of the operation portion 312 relative to the first main body 311, and two ends of the connecting assembly 340 of the second operation arm 32 are respectively connected to the second main body 321 and the image portion 322, so that the second operation arm 32 can adjust the position and the posture of the image portion 322 relative to the second main body 321. It should be noted that each of the plurality of operation arms 30 may have the connection member 340, or only some of the operation arms 30 may have the connection members 340.

The positions of the operation portion 312 and the image portion 322 in the above embodiments can be adjusted by the connection assembly 340. For example, when both the operation units 312 are positioned between the image unit 322 and the lesion, the operation unit 312 is positioned between the image unit 322 and the lesion when the maximum adjustment range region of the connection unit 340 is set. For another example, when the image portion 322 is located between two operation portions 312 having the largest distance among the plurality of operation portions 312, the two operation portions 312 are located in the maximum range adjustment region of the connection assembly 340.

In one embodiment, the adjustment ranges and/or lengths of the at least two connecting elements 340 are the same. For example, the adjustment ranges of the plurality of connecting assemblies 340 are all the same. For another example, when the operating arm 30 includes a plurality of first operating arms 31 and second operating arms 32, the adjusting ranges and/or lengths of the connecting members 340 on the plurality of first operating arms 31 are the same, and are different from the adjusting ranges and/or lengths of the connecting members 340 on the second operating arms 32. In another example, the adjustment range and/or length of each connecting element 340 is different.

In one embodiment, the connecting assembly 340 includes at least four degrees of freedom. One degree of freedom of the linkage assembly 340 allows at least the attached manipulator arm 30 or image section 322 to rotate 0 to 300 degrees. For example, rotation within 90 degrees; as another example, rotate within 180; as another example, rotate within 30 degrees.

It should be noted that the relative positions of the distal instruments 320 in the above embodiments may be the relative positions of the plurality of distal instruments 320 when the connecting assembly 340 is in the extreme position.

Fig. 12 to 26 are schematic structural diagrams of different embodiments of the slave operation device assembly according to the present invention.

The slave operation device assembly includes: an operating arm 30 and a power mechanism 20. Wherein, the operation arm 30 has a driving part 330, a main body 310 and a terminal device 320 connected in sequence; the power mechanism 20 has a housing 210 and a power portion 220 disposed in the housing 210, the power portion 220 is connected to the driving portion 330 for driving the distal end instrument 320 via the driving portion 330, and the relative position between the main body 310 and the sidewall of the housing 210 can be changed for the slave operation device assembly, so as to increase the application range and flexibility of the slave operation device assembly.

In one embodiment, the manipulator arm 30 is multiple, and multiple bodies 310 extend into the body from a single incision, and the relative positions of the multiple bodies 310 in the incision area can be changed from the manipulator assembly. For example, in the embodiment shown in fig. 12 and 13, the number of the main bodies 310 is three, and the main bodies 310 located in the cut-out region are switched from the linear distribution to the triangular distribution or from the triangular distribution to the linear distribution from the operation device assembly. As another example, the distance between the plurality of bodies 310 distributed along the straight line can be changed from the operating device assembly. The number of the plurality of main bodies 310 and the arrangement of the main bodies in the cutout regions are the same as those in the above embodiments, and the main bodies can be switched among the arrangements in the above embodiments by the slave operating device.

In the embodiment shown in fig. 14 and 15, the distance between the main body 310 and the side wall of the housing 210 on the driving part 330 is adjusted by the power part 220 from the operating device assembly, so that the main body 310 can extend into the body from different positions of one incision, or the main body 310 can extend into the body from different incisions. Wherein, the surface facing the human body in the operation process is a bottom wall, and the side wall is adjacent to the bottom wall. The distance between the main body 310 and the side wall of the housing 210 refers to the distance between the portion of the main body 310 located in the cut-out region and the plane of the side wall of the housing 210, and adjusting the distance refers to adjusting the distance between the main body 310 and at least one side wall of the housing 210. In other embodiments, the power unit 220 can also adjust the distance between other parts of the main body 310 and the side wall of the housing 210.

The slave operation device assembly can adjust the position of the main body 310, thereby increasing the application range of the slave operation device assembly.

In one embodiment, the power portion 220 is rotatable relative to the housing 210 to adjust the position of the main body 310. Specifically, the power mechanism 20 further includes a connecting portion 230, the housing 210 has a guide rail 211, the connecting portion 230 is disposed on the guide rail 211 and is slidable along with the guide rail 211, and the power portion 220 is rotatably disposed on the connecting portion 230 and is rotatable along with the connecting portion 230 relative to the housing 210. Further, the extending direction of the guide rail 211 is the same as the rotation axis direction of the power part 220. Wherein, the portion of the main body 310 protruding into the cut-out region is disposed non-coincidently with the rotation axis of the driving part 330, so that the power part 220 can change the distance between the portion of the main body 310 and the sidewall of the housing 210 when rotating, for example, the main body 310 is disposed parallel to and spaced from the rotation axis.

The above-mentioned from the operation equipment subassembly, the operation arm 30 that sets up on power portion 220 has two degrees of freedom to the order is more nimble from the operation equipment subassembly, and application scope is wider, through the position of rotating power portion 220 adjustment main part 310, makes the regulation more simple convenient.

It should be noted that in other embodiments, the guide rail may extend along other directions, for example, the extending direction of the guide rail intersects with the rotation axis and is an acute angle. In other embodiments, the guide rails 211 may be omitted; the main body 310 may also form an angle with the rotation axis, for example, the main body 310 is a straight rod, which forms an acute angle with the rotation axis.

In other embodiments, the power portion 220 may be movable relative to the housing 210 to adjust the distance between the main body 310 and the sidewall of the housing 210, for example, the power portion is slidably disposed on a guide rail, wherein the extension direction of the guide rail is directed to the sidewall of the housing, so that the distance between the main body and the sidewall of the housing is adjusted by translation.

In one embodiment, the power portion 220 and the operation arm 30 are both multiple, the operation arm 30 is disposed on the power portion 220 corresponding to the power portion, the power portion 220 is used for adjusting the main body 310 of the operation arm 30 from a first position to a second position, and the arrangement of the multiple main bodies 310 at the first position is different from the arrangement at the second position. Wherein, at least a part of the main body 310 has different distances to the side wall of the housing 210 in the first position and the second position, that is, when the part of the main body 310 has different distances, there may be a part of the main body 310 that has not changed positions in the first position and the second position and has no changed distance to the side wall of the housing 210. For example, the main bodies 310 include three, one of the main bodies 310 is not changed in position, the other two main bodies 310 are changed in position between the first position and the second position, and the three main bodies 310 are arranged differently between the first position and the second position. For another example, the three bodies 310 include three bodies, the positions of the three bodies 310 are changed in the first and second positions, and the arrangement of the three bodies 310 is also changed. In other embodiments, the power unit 220 may move the operating arm 30 to another position, for example, a third position, and when the plurality of main bodies 310 are located at the third position, the arrangement of the main bodies is different from the arrangement of the main bodies located at the first position and the second position.

The number of the power units 220 may be the same as that of the operation arms 30, or may be larger than that of the operation arms 30, and the operation arms 30 may be provided even in the corresponding power units 220 as needed.

The slave operation device assembly can change the arrangement of the plurality of main bodies 310 in the incision area, so that the slave operation device assembly can adapt to different incisions to perform operation at different positions of a human body.

In one embodiment, when the plurality of bodies 310 are in the first position, the portions of the body in the incision tract are aligned. When in the second position, the plurality of bodies 310 are collectively arranged. For example, in the embodiment shown in fig. 12 and 13, the main body 310 includes three

main bodies

310A, 310B and 310C, the three main bodies 310 are sequentially arranged along a straight line when located at the first position, and the portion of the incision region is arranged in a triangle when located at the second position, specifically, when located at the second position, the main body 310B is located away from the lesion, and the

main bodies

310A and 310C are located between the main body 310B and the lesion. For another example, in the embodiment shown in fig. 16 and 17, the main bodies 310 include four

main bodies

310A, 310B, 310C and 310D, the four main bodies 310 are sequentially arranged along a straight line at the first position, and are arranged in a quadrilateral shape at the second position, specifically, at the second position, the main body 310A is located at a position far away from the lesion, the main body 310D is located at a position close to the lesion, and both the

main bodies

310B and 310C are located between the

main bodies

310A and 310D. It should be noted that the arrangement of the plurality of main bodies 310 may be arranged as described in the above embodiments, and will not be repeated here.

In one embodiment, at least two of the bodies 310 of the plurality of manipulation arms 30 have different rotation radii, so that the plurality of bodies 310 are arranged in a predetermined manner after being rotated. For example, the rotational radii of the plurality of bodies 310 are all different. In other embodiments, the rotation radii of the main bodies 310 of the plurality of driving portions 330 may be the same. It should be noted that the radius of rotation of the body 310 may refer to the radius of rotation of the portion of the body 310 in the incision area, the radius of rotation of the proximal area of the body 310, or the radius of rotation of other areas where a change in position is desired.

In one embodiment, the distance between the main body 310 of the operating arm 30 and the side wall of the housing 210 is adjusted from the operating device assembly by replacing the operating arm 30 connected to the power part 220. Specifically, as shown in fig. 18 and 19, the operating arm 30 includes a first position operating arm 33 and a second position operating arm 34, and when the first position operating arm 33 and the second position operating arm 34 are connected to the same power unit 220, the distances between the main body 310 and the side wall of the housing 210 are different. For example, as shown in fig. 20 and 21, the distance from the main body 310 of the first position operation arm 33 to the middle area of the driving connection pad 331 is smaller than the distance from the main body 310 of the second position operation arm 34 to the middle area of the driving connection pad 331, wherein the distance from the main body 310 to the middle area of the driving connection pad 331 is the distance between the area of the main body 310 of the operation arm 30 located at the cut-out area portion and the extension line of the middle area of the connection pad 331. For another example, the distance from the body 310 of the first position operating arm 33 to the central region of the driving connecting pad 331 is greater than the distance from the body 310 of the second position operating arm 34 to the central region of the driving connecting pad 331.

It should be noted that, when the number of the power parts is greater than the number of the required operating arms, the first position operating arm and the second position operating arm can also be mounted on different power parts to adjust the distance between the main body and the side wall of the housing, and at this time, the distances between the main bodies of the first position operating arm and the second position operating arm and the middle area of the driving disc can be the same, and the shapes of the driving parts are different, so as to mount on the required power parts. The first position manipulation arm and the second position manipulation arm may be the first manipulation arm or the second manipulation arm, and it is understood that the first position manipulation arm may be the first manipulation arm for performing the surgical operation and may have a manipulation portion, or the second manipulation arm for acquiring the image and may have an image portion.

In other embodiments, the slave manipulator assembly may also include a plurality of manipulator arms 30 with different positions of the main body 310 relative to the housing 210, for example, the slave manipulator assembly includes a first position manipulator arm 33, a second position manipulator arm 34, and a third position manipulator arm, and the positions of the main body 310 relative to the housing 210 are different.

In one embodiment, the operation arms 30 have two sets, the first set of operation arms has a first position operation arm 33, the second set of operation arms has a second position operation arm 34, when the power portion 220 is correspondingly connected to the first set of operation arms, the main body 310 of the slave operation device assembly is located at the first position, when the power portion 220 is correspondingly connected to the second set of operation arms, the main body 310 of the slave operation device assembly is located at the second position, and the arrangement of the plurality of main bodies 310 at the first position is different from the arrangement at the second position. The operation arms 30 may also include other groups, after the operation arms 30 in each group are connected to the corresponding power parts 220, the plurality of main bodies 310 of the operation device assembly are arranged according to the preset position, and after the plurality of groups of operation arms 30 are connected to the power parts 220, the arrangement modes of the main bodies 310 are different. The specific arrangement of the plurality of bodies 310 may be the same as that of the above embodiments, and will not be repeated here.

In one embodiment, the arms 30 in the first and second sets of arms are different. For example, the first set of operation arms are all first position operation arms 33, and the second set of operation arms are all second position operation arms 34. For another example, the first set of operation arms includes a first position operation arm and a third position operation arm, and the second set of operation arms includes a second position operation arm and a fourth position operation arm, wherein when the first position operation arm, the second position operation arm, the third position operation arm and the fourth position operation arm are disposed on the same power portion 220, the distances between the main body 310 and the side wall of the housing 210 are different. If necessary, the slave operation device assembly may further include more operation arms 30, and when different operation arms 30 are disposed on the same power portion 220, the distances between the main body 310 and the side walls of the housing 210 are different.

In one embodiment, the operating arms 30 in the first and second sets of operating arms are partially identical, that is, the two sets of operating arms 30 include the same operating arms 30, wherein the same operating arms 30 may be connected to the same power unit 220 or different power units 220 when they are at different positions. For example, the first set of operation arms includes a first position operation arm 33 and a second position operation arm 34, wherein the second operation arm 32 of the first set of operation arms is connected to the same power part 220 when the operation arm 30 of the operation device assembly is located at the first position and the second position, respectively. For another example, the second set of operation arms includes a first position operation arm 33 and a second position operation arm 34, wherein when the operation arm 30 of the operation device assembly is located at the first position and the second position, respectively, the first operation arm 31 of the second set of operation arms is connected to different power parts 220.

Further, in one embodiment, the bodies of the same operating arm 30 in the two sets are adjacent, that is, the bodies of the same operating arm 30 are adjacent when the operating arms 30 in the two sets are in at least one of the positions. For example, in the embodiment shown in fig. 22 and 23, the main bodies 310 of the plurality of operation arms 30 of the slave operation device assembly are arranged in a straight line at the first position, two

adjacent operation arms

30A and 30B do not need to be adjusted when the operation arm 30 of the slave operation device assembly is replaced with the second position, and the rest of the operation arms 30 are replaced with the operation arms 30 having a configuration different from the first position. In other embodiments, the same operating arms 30 in two sets may be spaced apart, or partially adjacent and partially spaced apart.

In one embodiment, as shown in fig. 24, the relative position between the main body 310 and the housing 210 is adjusted by elastic deformation of the main body 310 from the operating device assembly. Specifically, the main body 310 has an elastic deformation to change the relative position between the plurality of main bodies 310 and the sidewall of the housing 210, wherein the main body 310 can ensure the rigidity thereof while ensuring the position change, so that the plurality of main bodies 310 can be kept stable during the operation.

In one embodiment, the operation arm 30 is multiple, the main body 310 of the multiple operation arms 30 extends into the body from one incision, and the main body 310 can change the arrangement of the parts located in the incision region, wherein the arrangement is the same as that of the above embodiments, and will not be repeated here. In other embodiments, multiple manipulation arms 30 may be extended into the body from different incisions by adjustment of the flexible body 310.

In one embodiment, the slave operation device assembly further includes a restriction member 50, the restriction member 50 is provided with a through hole, and the plurality of operation arms 30 are disposed through the through hole to arrange the main body 310 in a manner of restriction of the through hole. In this embodiment, after the main body 310 is inserted into the through hole, the extending direction thereof is also limited by the through hole. For example, after the main body 310 is formed with the through hole, the plurality of main bodies 310 are disposed in parallel with each other and perpendicular to the surface on which the through hole is formed, and specifically, the constraining member 50 has a certain thickness so that it can adjust the extending direction of the main body 310. For another example, the plurality of bodies 310 are radially disposed after passing through the through holes. For another example, after the plurality of main bodies 310 are inserted into the through holes, some of the main bodies 310 are arranged in parallel, and some of the main bodies 310 are arranged radially with respect to the main bodies 310 arranged in parallel.

Further, in one embodiment, there is one through hole through which the plurality of main bodies 310 are inserted. In other embodiments, there may be a plurality of through holes, wherein the number of through holes may or may not correspond to the number of the main body 310. For example, the number of the through holes is the same as the number of the main bodies 310, and each main body 310 is penetrated with one through hole corresponding thereto. For another example, the number of through holes is less than the number of the main body 310, and a portion of the main body 310 penetrates through the same through hole. As another example, the number of the through holes is greater than the number of the main bodies 310, and the main bodies 310 are disposed in the corresponding through holes as needed.

The arrangement of the plurality of through holes or the main bodies 310 is the same as that of the main bodies 310 in the above embodiments, and will not be repeated here.

In an embodiment, there may be a plurality of the constraining members 50, the through holes of the constraining members 50 are different, and one of the constraining members 50 may be selected according to the requirement when in use.

In one embodiment, the distance between the main body 310 and the sidewall of the housing 210 is adjusted by changing the connection position of the operating arm 30 and the power part 220. In the embodiment shown in fig. 25 and 26, the driving portion 330 has a driving connecting disc 331, the power portion 220 is provided with a plurality of power connecting discs 221, and the power portion 220 can be connected to the driving portion 330 from different positions to change the relative position between the main body 310 and the side wall of the housing 210 in the slave operation device assembly.

The power unit 220 is connected to the operation unit 312 from different positions, that is, when the driving unit 330 has one driving connection pad 331, the power connection pads 221 connected to the operation arm 30 of the slave device assembly at different positions may be different or the same, that is, when the driving unit 330 is connected to the same power connection pad 221, the driving unit 330 is rotated to be mounted to the power unit 220 from another angle, so that the operation arm 30 of the slave device assembly is located at different positions; when the driving part 330 has a plurality of driving lands 331, the power lands 221 connected to the plurality of driving lands 331 at different positions are at least partially different, or are completely the same, that is, the driving lands 331 are connected to a part of the power lands 221 at a first position, and are connected to another part of the power lands 221 at a second position, wherein the two parts of the power lands 221 may be both different (as shown in fig. 25 and 26), or may be partially different, or may be the same, and it should be noted that the same power lands 221 may be connected to the same driving lands 331 at different positions, or may be connected to different driving lands 331 at different positions.

In one embodiment, the operating arm 30 rotates relative to the power portion 220 to change from the first position to the second position. For example, the operation arm 30 is rotated counterclockwise when changing the position, and the power land 221 connected to the drive land 331 is the same in the power unit 220 in the first position and the second position, and the different drive land 331 is connected in the different position. For another example, the operation arm 30 is rotated clockwise when changing the position, the power land 221 connected to the drive land 331 is partially the same in the power unit 220 in the first position and the second position, and the same drive land 331 is connected to the same power land 221 in the different position.

In other embodiments, the operating arm 30 can also adjust the distance of the main body 310 relative to the sidewall of the housing 210 in a translational manner. Specifically, the driving part 330 of the operating arm 30 translates relative to the power part 220 to change from the first position to the second position.

In one embodiment, the driving connecting disc 331 of the operating arm 30 is symmetrically arranged, and the power connecting disc 221 of the power part 220 is symmetrically arranged. For example, the number of the power lands 221 is the same as the number of the drive lands 331, and the drive lands 331 are connected to different power lands 221 at different positions by the rotation driving unit 330. For another example, the number of the power pads 221 is a multiple of the number of the driving pads 331, and the driving pads 331 are connected to different power pads 221 at different positions by rotating the driving part 330, wherein the power pads 221 of different portions of the power connection part 230 are connected to the driving pads 331 at different positions.

The power units 220 of the power mechanism 20 may be arranged as needed, and the arrangement of the plurality of power units 220 may be the same as or different from the arrangement of the plurality of bodies 310 in the cut-out region. For example, the power mechanism 20 includes three power parts 220, and the plurality of power parts 220 are arranged in a row. For another example, the power portions 220 include three power portions 220, and the three power portions 220 are distributed in a triangular shape. For another example, the power portions 220 include four power portions 220, the four power portions 220 are distributed in a quadrilateral shape, and further, the plurality of power portions 220 are symmetrically disposed on the housing 210.

Referring to fig. 27, which is a schematic structural diagram of an embodiment of the operation arm 30, the main body 310 of the operation arm 30 is disposed at an edge region of the driving portion 330 and spaced from a rotation axis of the driving portion 330, so that when the driving portion 330 rotates, a distance between the main body 310 and a sidewall of the housing 210 is changed. In one embodiment, the main body 310 is tangent to the side surface of the driving portion 330, the main body 310 is disposed on the bottom surface of the driving portion 330, two adjacent side surfaces of the driving portion 330 form an included angle, and the main body 310 is located in the included angle region. The bottom surface refers to a surface of the driving part 330 facing the human body during surgery, the side surface is a surface adjacent to the bottom surface, and the surface of the driving part 330 for connecting the power mechanism 20 and the surface of the main body 310 may be the same surface or different surfaces. In other embodiments, the main body 310 may be disposed on other surfaces of the driving portion 330. The specification of the driving unit 330 may be the same as that of the power unit 220, or may be different from that of the power unit 220. For example, the driving portion and the power portion have the same shape.

From the assembly of the operating device, the plurality of driving parts 330 are disposed such that the ends of the main body 310 are close to each other and the other ends are directed to different positions, so as to reduce the installation space required for the plurality of driving parts 330, thereby reducing the volume of the operating device. For example, in the embodiment shown in fig. 22, the other ends of the driving portions 330 are oppositely oriented, the portions are oriented the same, and the driving portions 330 oriented differently are staggered. As another example, in the embodiment shown in fig. 23, the orientations of the other portions of the driving portions 330 are different.

In one embodiment, as shown in fig. 23, the slave operation device assembly includes four operation arms, the driving portions of the four operation arms have substantially the same specification, the driving portions have two ends with different specifications, wherein the smaller end is provided with the main body, and the two ends are different in specification, so that the driving portions have directivity which is directed from the larger end to the smaller end, wherein the directivity is directed in the direction of the line connecting the two ends. In other embodiments, the two ends of the driving portion may have the same specification, and in this case, the directivity thereof may be the direction of the line connecting the two ends, and the main body may be disposed on a different end, for example, a larger end, as necessary.

Each driving part has an inclined direction relative to the shell, and it can also be understood that a connecting line of two end parts has an inclined direction relative to the side surface of the shell, extension lines of the inclined directions of two adjacent driving parts are intersected, that is, the connecting lines of the two end parts of two adjacent driving parts are intersected, and the extension lines of the inclined directions of a plurality of driving parts are not intersected at one point. In the present embodiment, the inclination directions of the plurality of driving portions form a quadrangular region, for example, a parallelogram, a rectangle, a rhombus, or the like. In other embodiments, the inclination directions of the plurality of driving portions may also form a fishbone shape, that is, the inclination directions of three of the driving portions intersect with another driving portion. In other embodiments, the inclination directions of the plurality of driving portions may intersect at a single point. In this embodiment, the driving portion has a strip-shaped cross section.

In one embodiment, the cross section of the housing is a quadrilateral, the number of the operating arms is four, the main body of the operating arms is distributed in a quadrilateral, and the two quadrilaterals are offset, that is, each side of the quadrilateral formed by the main body forms an included angle with each side of the quadrilateral of the cross section of the housing. For example, four driving portions correspond to four side surfaces of the housing, and included angles between each driving portion and the corresponding side surface are the same. For another example, the included angles between at least some of the four driving portions and the corresponding side surfaces are different. In other embodiments, the cross-section of the housing may have other shapes, such as circular, trapezoidal, etc.

In one embodiment, the housing has a mounting groove penetrating through a bottom surface of the housing, so that the operating arm is laterally translated into the mounting groove, and a distal end of the operating arm is located outside the mounting groove, i.e., the main body penetrates through the mounting groove.

In one embodiment, the arrangement and positional relationship of the power portions are the same as those of the operation arm main body. For example, the housing is a quadrangle, a line connecting the plurality of power portions is a quadrangle, and the quadrangle has an offset with respect to the quadrangle of the housing, specifically, each side has an included angle with respect to the housing, that is, each side has an included angle with respect to a corresponding surface of the housing.

Further, in one embodiment, the slave manipulator assembly comprises a second manipulator arm and three first manipulator arms, and when the plurality of manipulator arms extend into the body, the first bodies are all located between the second body and the lesion.

As shown in fig. 28 to 32, the operation arms 30 include two sets, a first operation arm set having a plurality of operation arms 30 and disposed adjacently to extend from an incision into the body, a second operation arm set having a second operation arm 32 for acquiring an image of at least the operation arms 30 of the first operation arm set, and the second operation arm 32 of the second operation arm set being spaced apart from the plurality of operation arms 30 of the first operation arm set. The spaced arrangement refers to a distance between the plurality of operation arms 30 in the first operation arm group, and the distance between the two operation arms 30 is larger.

When the slave manipulator assembly is used, the second manipulator arm 32 in the second manipulator arm group is firstly inserted into the body to obtain the in-vivo image, and then the first manipulator arm 30 is inserted into the body from an incision, wherein the manipulator arm 30 of the first manipulator arm group is positioned in the visual field of the second manipulator arm 32 in the second manipulator arm group at least in the process of inserting into the body. Thus, a better view can be obtained from the operation equipment assembly, the operation space of the operation arm 30 is larger during operation, and the efficiency of the operation equipment assembly is higher, and the application range is wider.

In other embodiments, the second manipulator arm set may be omitted, and in this case, the capsule endoscope may provide the operator with an operation field.

In one embodiment, the bodies of the plurality of arms 30 in the first set of arms are positioned adjacent to each other to extend from an incision into the body, and the second body 321 in the second set of arms is spaced apart from the body of the arms of the first set of arms to provide a better field of view. For example, proximal ends of the plurality of bodies of the first manipulator arm assembly are disposed adjacent. As another example, the first manipulator arm assembly may be disposed adjacent a central region or distal end of the plurality of bodies. For another example, the distal end of the second body 321 in the second operation arm group is spaced apart from the body of the operation arm 30 in the first operation arm group.

In one embodiment, the main body of the first operation arm set operation arm 30 is located in the visual field of the second operation arm set image part 322. In other embodiments, the distal instrument of the manipulator arm 30 in the first manipulator arm set, i.e., the manipulator portion 312 and/or the image portion 322, is positioned within the field of view of the image portion 322 of the second manipulator arm set to provide a surgical field of view. Alternatively, the main body and the distal end instrument of the first arm group arm 30 may be positioned within the field of view of the image portion 322 of the second arm group arm 30.

In one embodiment, the second arm group operating arm 30 extends into the body from another incision, i.e. the first arm group operating arm 30 and the second arm group operating arm 30 extend into the body from different incisions. Thus, the plurality of operation arms 30 in the first operation arm group extend into the body from one incision to perform operation, the number of incisions is reduced, and the second operation arm 32 in the second operation arm group provides a better view for observing the operation arms 30 in the first operation arm group. In other embodiments, a plurality of arms 30 each extend into the body from a single incision, and two sets of arms 30 are spaced apart so that the second arm 32 of the second set of arms 30 provides a better view.

In one embodiment, as shown in fig. 28, the first manipulator arm assembly 30 is a first manipulator arm 31, and the surgical operation is provided with a view from the operation equipment assembly through the second manipulator arm assembly 30, so that the operation space of the first manipulator arm assembly 30 is larger. In other embodiments, as shown in fig. 31, the first operation arm group 30 includes a first operation arm 31 and a second operation arm 32, and the second operation arms 32 of the first operation arm group and the second operation arm group together provide a visual field for the operation. In one embodiment, the second arm group 30 is composed of one second arm 32, that is, only one second arm 32 is included in the second arm group 30. In other embodiments, the second operation arm group operation arm 30 further includes a first operation arm 31.

The arrangement of the operation arms may be the same as that of the above embodiments, and will not be repeated here.

As shown in fig. 29 to 32, the slave operation device assembly further includes a mechanical arm and a power mechanism disposed on the mechanical arm, the operation arm 30 is disposed on the power mechanism and driven by the power mechanism, and the mechanical arm is used for adjusting the position and posture of the operation arm 30. Specifically, the robot arm includes a plurality of connecting portions 400 connected in sequence, two adjacent connecting portions 400 form a joint assembly 500, and the robot arm changes the position and posture of the operation arm 30 by adjusting the state of the joint assembly 500, wherein the state change of the joint assembly 500 means that the connecting portions 400 forming the joint assembly 500 relatively move to rotate, slide along a straight line, and the like the joint assembly 500. In other embodiments, the power mechanism may be omitted, and the driving may be performed by other structures, for example, the operating arm 30 may include a driving structure instead of the power mechanism.

In one embodiment, the slave operation device assembly comprises: the robot comprises a first mechanical arm 11, a first power mechanism 21 arranged on the first mechanical arm 11, a second mechanical arm 12 and a second power mechanism 22 arranged on the second mechanical arm 12, wherein a first operation arm group operation arm 30 is arranged on the first power mechanism 21, and a second operation arm group operation arm 30 is arranged on the second power mechanism 22.

Further, the slave operation device assembly has a first center of motion, a second center of motion. The first operation arm group operation arm 30 moves along a first movement center, that is, when the posture and the position of the first operation arm group operation arm 30 are adjusted by the first mechanical arm 11, the first operation arm group operation arm 30 moves along the movement center; when the second operation arm group operation arm 30 is adjusted along the second movement center, that is, the posture and the position of the second operation arm group operation arm 30 are adjusted by the second robot arm 12, the second operation arm group operation arm 30 moves along the movement center. Wherein the motion along the motion center can be either a linear motion along the motion center or a rotation around the motion center, and the motion center is usually the incision area on the patient.

In the embodiment shown in fig. 29 to 31, the first robot arm 11 and the second robot arm 12 move independently, that is, when one of the robot arms 10 moves to move the operation arm 30 disposed thereon along the center of motion, the other robot arm 10 and the position and posture disposed thereon are not affected, so that the two sets of operation arms 30 connected to the two robot arms 10 do not affect each other and move independently along the respective centers of motion.

In one embodiment, each of the first and

second robot arms

11 and 12 has a plurality of joint assemblies 500, and at least some of the joint assemblies 500 in each robot arm 10 are coupled to move the operation arm 30 along the movement center, wherein the joint assemblies may not be shared by the two robot arms, or may be shared by the two robot arms, and when the joint assemblies are shared, the shared joint assemblies are non-coupled joint assemblies, so that the two robot arms 10 move independently from each other when adjusting the posture and position of the operation arm 30. When any one of the joint assemblies 500 linked by the plurality of joint assemblies 500 changes its state, the other joint assemblies 500 linked therewith actively change its state according to a preset rule, so that the operation arm 30 moves along the center of motion. For example, in the embodiment shown in fig. 29, the two robot arms do not share joint components, each joint component 500 in the first robot arm 11 is linked, and each joint component 500 in the second robot arm 12 is linked. For another example, some joints in the first robot arm 11 and/or the second robot arm 12 may be linked. For another example, the first robot arm 11 and the second robot arm 12 share part of the joint assembly 500, and the shared joint assembly 500 is not linked with the other joint assemblies 500 in the two robot arms 10. In other embodiments, the first robot arm 11 and/or the second robot arm 12 may not include the joint assembly 500, i.e., each joint assembly 500 may be independently adjusted.

Further, the first robot arm 11 is disposed on the first base, the second robot arm 12 is disposed on the second base, and the first base is capable of moving independently relative to the second base. The first base and/or the second base may be disposed on a fixed area such as a floor, a wall, or a ceiling. In other embodiments, both of the robot arms 10 may be disposed on the same base.

In the embodiment shown in fig. 30 and 31, the second mechanical arm 12 is disposed in the first central movement region, so that the two mechanical arms 10 move independently. At this time, since the operation arm 30 moves along the first center of motion when the first robot arm 11 performs adjustment, the second robot arm 12 disposed in the first center of motion region does not change its position and posture when the first robot arm 11 performs adjustment.

As in the previous embodiments, each robot arm 10 of the present embodiment may move the operation arm 30 along the movement center by the linkage joint assembly 500, or may not include the linkage joint assembly 500 and adjust independently of each other, and will not be described again here.

In one embodiment, the operating device assembly further comprises a card, and the second mechanical arm 12 is configured to be disposed on the card, such that the operating arm 30 disposed on the second mechanical arm 12 and the operating arm 30 penetrating the card move independently of each other. That is, when the first operation arm group operation arm 30 disposed on the first mechanical arm 11 penetrates the stamp card, it and the second operation arm group operation arm 30 disposed on the second mechanical arm 12 move independently. The stamp card can be omitted according to actual needs.

The second mechanical arm 12 and the card may have a variety of connections. For example, the proximal end of the second mechanical arm 12 is sleeved with a poke card. Specifically, an annular groove is formed on the poke card, and the proximal end of the second mechanical arm 12 is connected with the annular groove in a matching manner. Wherein, still be equipped with the positioning unit on stabbing the card, the positioning unit is a plurality of, and it sets up to close on the recess to fix a position second arm 12 when the installation. For another example, the proximal end of the second arm 12 is engaged with a poking card, wherein the proximal end of the second arm 12 and the poking card have mating engaging portions to engage with each other. It should be noted that the second mechanical arm 12 may be detachably connected to the card, or may be integrated with the card, or may not be detachable.

In one embodiment, the slave manipulator further comprises a weight block configured to be disposed on the stamp card to balance the second mechanical arm 12 and the second power mechanism 22. For example, the counterweight block is sleeved with a poking card; for another example, the counterweight block is clamped with the poking card; for another example, the weight blocks may be detachably connected to the card and/or detachably connected to each other to perform a weight balancing according to the weight of the robot arm 10 disposed on the card.

In other embodiments, the first mechanical arm 11 and the second mechanical arm 12 may also move independently, i.e. the movement of one of the mechanical arms 10 may cause the state of the other mechanical arm 10 to change.

In the embodiment shown in fig. 32, each of the first robot arm 11 and the second robot arm 12 includes a plurality of joint assemblies 500, and at least one joint assembly 500 is shared by the first robot arm 11 and the second robot arm 12, at least some joint assemblies of the first robot arm 11 and the second robot arm 10 are linked, and the shared joint assembly 500 is a linked joint assembly 500, so that the operation arm 30 disposed on the first robot arm 11 moves along the first center of motion, and the operation arm 30 disposed on the second robot arm 12 moves along the second center of motion. In other embodiments, each joint assembly 500 in the first robot arm 11 is linked, and/or each joint assembly 500 on the second robot arm 12 is linked.

When the first robot arm 11 is adjusted by the joint assembly 500, the other joint assemblies 500 of the robot arm 30 linked with the first robot arm 11 are adjusted, so that the robot arm 30 mounted on the first robot arm 11 moves along the first center of motion. Since the joint assembly 500 shared by the second robot arm 12 and the first robot arm 11 is both the joint assembly 500 linked with one of the first robot arm 11 and the joint assembly 500 linked with one of the second robot arm 12, when the first robot arm 11 is adjusted, the joint assembly 500 linked with the second robot arm 12 is adjusted accordingly so that the operation arm 30 provided on the second robot arm 12 moves along the second center of motion. Thus, when one of the robot arms 10 is adjusted, the operation arm 30 provided on the other robot arm 10 is still located at the center of motion.

In one embodiment, when the linkage joint assembly 500 of one of the robot arms 10 is adjusted with the other robot arm 10, the relative position between the operation arms 30 disposed on the two robot arms 10 after the adjustment is maintained. For example, when the joint linkage assembly 500 in the first robot arm 11 is adjusted, the joint linkage assembly 500 in the second robot arm 12 is adjusted accordingly, that is, the second robot arm 12 is adjusted along with the first robot arm 11 by the joint linkage assembly 500. For another example, when the second robot arm 12 performs an adjustment, the first robot arm 11 follows the adjustment.

In this way, when the operation arm 30 of one of the robot arms 10 is adjusted, the relative relationship between the operation arm 30 of the other robot arm 10 and the other robot arm is not affected, and when the two are matched with each other, for example, when the second operation arm 32 is provided on the second robot arm 12 for observing the operation arm 30 of the first robot arm 11, the observation of the operation arm 30 of the first robot arm 11 by the second operation arm 32 of the second robot arm 12 is not affected.

Further, the first robot arm 11 includes a first connection portion 410 and a second connection portion 420 connected in sequence, and the second robot arm 12 includes a first connection portion 410 and a third connection portion 430 connected in sequence, wherein the first connection portion 410 is shared by the first robot arm 11 and the second robot arm 12. In one embodiment, the second connection portions 420 are multiple and/or the third connection portions 430 are multiple. In other embodiments, there may be only one second connection portion 420 and only one third connection portion 430.

Specifically, the second connection portion 420 and the third connection portion 430 are disposed on the same first connection portion 410. For example, the second connection portion 420 and the third connection portion 430 are disposed in the same region of the first connection portion 410; for another example, the second connection portion 420 and the third connection portion 430 are disposed in different regions of the first connection portion 410.

In other embodiments, when the joint assembly 500 is shared by the first robot arm 11 and the second robot arm 12, the second robot arm 12 may also be passively adjusted along with the first robot arm 11, i.e., the joint assembly 500 at least located at the distal end of the second robot arm 12 is passively adjusted. For example, the position of the operating arm 30 disposed thereon is limited by the cut-out through which it penetrates, when the first robot arm 11 is adjusted to drive the operating arm 30 disposed on the second robot arm 12 to move therewith, the operating arm 30 on the second robot arm 12 is limited by the cut-out through which it penetrates, and the joint assembly 500 at the distal end of the second robot arm 12 is driven to adjust. For another example, the plurality of joint assemblies 500 at the distal end of the second robotic arm 12 are all passively adjustable joint assemblies 500.

It should be noted that the structure of each robot arm 10 may be the same as the structure of the robot arm related to chinese patent application No. 201810664598.2, and will not be repeated here. The first and

second robot arms

11 and 12 share at least the joint assembly 500 at the proximal end, such as the first joint assembly, and further such as the first and second joint assemblies.

Further, at least one of the first arm 11 and the first power mechanism 21, and at least one of the second arm 12 and the second power mechanism 22 are connected to the same control unit. For example, the first robot arm 11, the first power mechanism 21, the second robot arm 12, and the second power mechanism 22 are all connected to the same control unit, so that the main console can control the two sets of operation arms 30 to perform the operation.

In the embodiment shown in fig. 33 to 36, the second robot arm 12, the operation arm 30 provided on the second robot arm 12, and the second power mechanism may be replaced with a hanging endoscope 50, in which the hanging endoscope 50 is used to clamp the incision region where the operation arm 30 is inserted into the body. The hanging endoscope 50 may be located in the same incision as the operation arm 30 provided in the first robot arm 11, or may be located in a different incision.

The hanging endoscope 50 includes: a first clamping part 600, a second clamping part 700, a connector 800 and an image part 322. The connecting member 800 is connected to the first clamping portion 600 and the second clamping portion 700, the first clamping portion 600 is used for extending into the body, the second clamping portion 700 is located outside the body and used for being matched with the first clamping portion 600 to clamp the notch area, and the image portion 322 is disposed on the first clamping portion 600.

The hanging endoscope 50 is fixed on the body of the patient by clamping the skin of the incision region on the body of the patient through two clamping parts, wherein the connecting part 800 of the hanging endoscope 50 can be positioned between the poking card or the rubber protective sleeve arranged on the incision region and the skin of the incision region, so that the hanging endoscope 50 is more firmly arranged on the incision. The hanging endoscope 50 provided in the incision region observes the inside of the body through the image section 322.

In one embodiment, the connector 800 can adjust the distance between the first clamping portion 600 and the second clamping portion 700. For example, the connector 800 is a flexible connector 800, and the distance between the two clamping portions is adjusted by bending the connector 800. For another example, the connecting member 800 may be provided in plurality, and may be detachably connected to the two clamping portions, and the distance between the two clamping portions may be adjusted by connecting different connecting members 800.

In one embodiment, the image portion 322 is disposed at the free end region of the first clamping portion 600. For example, the image portion 322 is one and is located in the free end region of the first clamping portion 600. For example, the image portion 322 is plural, and the plural image portions 322 are all located in the free end region of the first clamping portion 600.

In the embodiment shown in fig. 32 and 33, the optical axis of the image portion 322 of the hanging endoscope 50 forms a first angle with the portion of the operation arm 30 extending into the body. That is, the optical axis of the hanging endoscope 50 forms a first angle with the portion of the operation arm 30 disposed on the first mechanical arm 11 extending into the body, so as to better provide a visual field for the operation. For example, the optical axis forms a first angle with the main body of the operation arm 30 on the first robot arm 11. For another example, the optical axis forms a first angle with the distal instrument of the manipulator arm 30 on the first robotic arm 11. Further, the first included angle is an acute angle or a right angle. For example, the first included angle is 40 to 70 degrees. For another example, the first included angle is 30 to 60 degrees.

In the embodiment shown in fig. 34, the first clamping portion 600 has a first body 610 and a second body 620 connected in sequence, the first body 610 is connected to the connecting member 800, and the image portion 322 is disposed on the second body 620, wherein the second body 620 forms a second angle with the first body 610, so that the optical axis of the image portion 322 of the hanging endoscope 50 forms a first angle with the portion of the first operation arm set 30 extending into the body. In this embodiment, the second included angle is an obtuse angle, for example, the second included angle is 100 to 140 degrees.

Further, the second body 620 is adjustable relative to the first body 610 to change the second included angle. For example, the second body 620 may swing with respect to the first body 610 to adjust the angle of the second included angle. For another example, the second body 620 is a flexible body, which can adjust the posture to adjust the first angle between the optical axis of the image portion 322 and the operation arm 30.

In other embodiments, as shown in fig. 36, the image portion 322 may be disposed obliquely with respect to the first clamping portion 600, so that the optical axis forms a first angle with the operation arm 30.

In an embodiment, the hanging endoscope 50 further includes a connecting assembly 300, and the connecting assembly 300 arranges the image portion 322 on the first clamping portion 600 to adjust the position and the posture of the image portion 322. When having the connection assembly 300, the hanging endoscope 50 also includes a power section of the hanging endoscope 50 to drive the movement of the connection assembly 300.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A slave manipulator assembly having multiple manipulator arms, comprising: three operation arms, wherein the operation arms are provided with main bodies, a plurality of the main bodies are adjacently arranged, so that the plurality of the operation arms extend into the body from one incision, and the parts of the plurality of the main bodies, which are positioned in the incision area, are sequentially arranged along a straight line; the slave operation equipment assembly also comprises a power mechanism, and the power mechanism is provided with a shell and a power part arranged in the shell; the distance between the main body and the side wall of the shell is adjusted through the power part from the operation equipment component, so that a plurality of main bodies extend into the body from different positions of the notch, and the main bodies are parallel to each other; the operation arm comprises a first position operation arm and a second position operation arm, and when the first position operation arm and the second position operation arm are connected with the same power part, the relative positions of the main body of the first position operation arm and the main body of the second position operation arm are different from the relative positions of the side walls of the shell.

2. A slave manipulator assembly according to claim 1, wherein the body is a rod structure.

3. The slave manipulator assembly according to claim 2, wherein the body is a straight rod.

4. A slave manipulator assembly according to claim 1, wherein the body is a flexible body, a plurality of which are arranged in a line in succession in the region of the cut-out.

5. A slave manipulator assembly according to claim 1, wherein a plurality of said bodies abut one another in sequence in said cut-out region.

6. A slave manipulator assembly according to claim 1, in which a plurality of said bodies are arranged in spaced sequence in the region of said cut-out.

7. The slave manipulator assembly according to claim 1, wherein a plurality of the bodies have substantially the same cross-sectional dimensions at the cut-out region portion.

8. The slave manipulator assembly according to claim 1, wherein the plurality of bodies differ in cross-sectional dimensions at the cut-out region portion, or partially differ at the same portion.

9. The slave manipulator assembly according to claim 8, wherein a plurality of the bodies are arranged in series according to the size of the cross-section.

10. A slave manipulator assembly according to claim 1, wherein the body is circular in cross-section at the cut-out region portion.

11. The slave manipulator assembly of claim 10, wherein a plurality of the bodies are arranged in a series according to a diametrical dimension.

12. The slave manipulator assembly according to claim 1, wherein the manipulator arm comprises a first manipulator arm having a first body and a manipulator portion disposed on the first body.

13. The slave manipulator assembly according to claim 12, wherein the manipulator arm further comprises a second manipulator arm comprising a second body and an image portion disposed on the second body.

14. The slave manipulator assembly according to claim 13, wherein the second body is located in a middle region of the manipulator arms aligned in a straight line.

15. A slave manipulator assembly according to claim 13, comprising two said first manipulator arms, the second body being located between the two said first bodies.

16. The slave manipulator assembly according to claim 13, wherein the second body is located at an end position in a plurality of the bodies arranged in a row.

17. The slave manipulator assembly according to claim 12, wherein the manipulator arms are each the first manipulator arm.

18. A slave manipulator assembly according to claim 13, wherein the diameter of the second body in the region of the cut-out is greater than the diameter of the first body in the region of the cut-out.

19. The slave manipulator assembly according to claim 1, wherein the manipulator arms comprise four, wherein the bodies of at least three of the manipulator arms are aligned in a straight line.

20. The slave manipulator assembly according to claim 19, wherein the bodies of four manipulator arms are arranged in a triangle, and the bodies of three manipulator arms arranged in a line form one of the sides of the triangle.

21. A slave manipulator assembly according to claim 20, wherein the other two sides of the triangle are the same length.

22. The slave manipulator assembly according to claim 19, wherein the manipulator arm comprises a first manipulator arm having a first body and a manipulator portion disposed on the first body.

23. The slave manipulator assembly according to claim 22, wherein the manipulator arm further comprises a second manipulator arm comprising a second body and an image portion disposed on the second manipulator portion.

24. A slave manipulator assembly according to claim 23, wherein the bodies of three manipulator arms are arranged in a line, the other manipulator arm being the second manipulator arm.

25. The slave manipulator assembly according to claim 24, wherein the manipulator arm with which the three bodies are aligned in a line is the first manipulator arm.

26. The slave manipulator assembly according to claim 24, wherein the manipulation site is located between a lesion and the image section.

27. A slave manipulator assembly according to claim 24, wherein the first body is located between the image section and a lesion.

28. A slave manipulator assembly according to claim 24, wherein the first body is located between the second body and a lesion.

29. The slave manipulator assembly according to claim 24, wherein the image section is located between the manipulation sections.

30. The slave manipulator assembly according to claim 24, wherein the image section is located between the first bodies.

31. The slave manipulator assembly according to claim 24, wherein the second body is located between the first bodies.

32. The slave manipulator assembly according to claim 23, wherein three of the linearly arranged bodies comprise one of the second bodies.

33. The slave manipulator assembly according to claim 32, wherein the body of the second manipulator arm is located in the middle of three linearly arranged bodies.

34. The slave manipulator assembly according to claim 32, wherein the image section is located between two of the manipulator sections.

35. The slave manipulator assembly according to claim 32, wherein the image section is located between two of the first bodies.

36. The slave operating device assembly of claim 22, wherein the four operating arms are all the first operating arm.

37. The slave manipulator assembly according to claim 23, wherein the first manipulator arm further comprises a connecting assembly, two ends of the connecting assembly are respectively connected to the first body and the manipulator, and the first manipulator arm adjusts a position and a posture of the manipulator relative to the first body through the connecting assembly;

and/or, the second operation arm further comprises a connecting assembly, two ends of the connecting assembly are respectively connected with the second main body and the image part, and the second operation arm adjusts the position and the posture of the image part relative to the second main body through the connecting assembly.

38. The slave manipulator assembly according to claim 37, wherein the manipulator is located between the image section and the lesion at a maximum adjustment range region.

39. The slave manipulator assembly according to claim 37, wherein the image section is located between two of the plurality of manipulation sections having the largest distance.

40. The slave operating device assembly of claim 37, wherein the image section is located in a central region of the two operating sections having the greatest distance when the two operating sections are located at extreme positions.

41. A slave manipulator assembly according to claim 37, wherein at least two of the manipulator arms have the connecting assembly and the adjustment range and/or length of at least two of the connecting assemblies is the same.

42. A slave manipulator assembly according to claim 37, wherein at least two of the manipulator arms have said linkage assemblies, and the adjustment range and/or length of each linkage assembly is different.

43. The slave manipulator assembly according to claim 1, wherein the power unit and the manipulation arms are provided in plural numbers, the manipulation arms are provided in two sets, the first set of manipulation arms has the first position manipulation arm, the second set of manipulation arms has the second position manipulation arm, the main body of the set of manipulation arms is located at a first position when the power unit is connected to the first set of manipulation arms, the main body of the set of manipulation arms is located at a second position when the power unit is connected to the second set of manipulation arms, and the arrangement of the main bodies at the first position is different from the arrangement of the main bodies at the second position.

44. The slave manipulator assembly according to claim 43, wherein a first set of said manipulator arms are each said first position manipulator arm;

and/or the second group of operating arms are the second position operating arms.

45. A slave manipulator assembly according to claim 43, wherein the manipulator arms of the first and second sets are identical in part.

46. A slave operating device assembly according to claim 43, in which the positions of the operating arms in both sets which are identical relative to the housing.

47. A slave manipulator assembly according to claim 43, wherein the body of the first set of manipulator arms in the first position extends into the body from an incision and the parts in the area of the incision are in a row.

48. A surgical robot comprising a slave manipulator assembly according to any one of claims 1 to 47 and a master console.