CN107485415A

CN107485415A - For performing the surgery system through natural cavity ESS

Info

Publication number: CN107485415A
Application number: CN201710714234.6A
Authority: CN
Inventors: 杨重光
Original assignee: Hong Kong Biomedical Engineering Co Ltd
Current assignee: Hong Kong Biomedical Engineering Co Ltd; Bio Medical Engineering HK Ltd
Priority date: 2016-11-01
Filing date: 2017-08-18
Publication date: 2017-12-19
Also published as: CN109893178A

Abstract

Example embodiment is related to the surgery system including end effector assemblies and arm component.End effector assemblies can include the first device assembly, and the first device assembly has the first apparatus and the first apparatus driven portion, and the first apparatus driven portion is configured to be actuated to move the first apparatus relative to first axle.Arm component can include the first and second arm component bodies, the first arm component coupling part, the first apparatus drive component and the first arm component drive component for coupling the first and second arm component bodies.First apparatus drive component can include the first integrated motor and the first apparatus drive part, and the first apparatus drive part can drive the first apparatus driven portion by the first integrated motor control.First arm component drive component can include the second integrated motor and the first arm component drive part, and the first arm component drive part can drive the first arm component body to be moved relative to the second arm component body by the second integrated motor control.

Description

For performing the surgery system through natural cavity ESS

The cross reference of related application：The application be U. S. application No.14/693,207 (U. S. application No.14/693, 207 submitted on April 22nd, 2015, it is desirable to the U.S. Provisional Application No.61/982 submitted on April 22nd, 2014,717 it is preferential Power), U. S. application No.15/044,895 (U. S. application No.15/044,895 submitted on 2 16th, 2016, were U.S. Shens Please No.14/693,207 part continuation application) and U. S. application No.15/044,889 (U. S. application No.15/044, 889 submitted on 2 16th, 2016, were U. S. application No.14/693,207 part continuation application) part continuation application, All contents of these applications hereby entirely (including the content of any bibliography included in it and teaching) by drawing With being hereby expressly incorporated into this detailed description.

Technical field

Present disclose relates generally to system, apparatus and method, more particularly, to for via single otch or natural chamber Road performs the system, apparatus and method of operation.

Background technology

Conventional surgical operation will typically need to open one or more big otch to patient so that surgical team's execution is outer Section acts.With the development of medical science and technology, the open surgical operation of most conventional is most of by minimally invasive surgery (MIS) operation substitution.Latest developments on area of computer aided and/or robotic surgery technology promote MIS to develop, and wrap surgery The expectation action of doctor is converted into the ability of motion of the robotic tool in the chamber of patient.

The content of the invention

Although nearest modern medical science and technology have developed, recognize in the disclosure, in modern surgery skill One or more problems are run into art and method.For example, typical MIS operations need to open multiple otch to patient, to permit Perhaps enter via these otch for camera (camera) and various other laparoscopic instruments to be inserted into the body of patient In chamber.

As another example, because anchorage force and/or reaction force are insufficiently resistant to it is expected or have during surgery acts Necessity apply power and stablize, robotic surgical device's equipment is met difficulty between surgery average of operation periods often.

In the disclosure it is also to be recognized that surgical robot systems are faced with (is such as attached to surgical machine robot arm for apparatus Cutting or grasp apparatus) provide the whole or even most parts in abdominal cavity for entering patient, region and/or as The difficulty into passage of limit.That is, it is inserted into surgery robots arm in the abdominal cavity of patient and is ready to perform After surgery action, the apparatus for being attached to the end of surgical machine robot arm is normally limited to only into some portions in the abdominal cavity of patient Point, region and quadrant.

In another example, it is known that surgical robot systems generally for patient it is each enter passage or opening it is (all Such as otch or natural cavity) only provide one to two between surgical machine robot arm.In this regard, by camera and respectively Kind laparoscopic instrument, which is inserted into the abdominal cavity of patient, will need one or more additional otch.

As another example, although known surgical robot systems have been designed to perform in the abdominal cavity of patient The surgical operation of direction forward, but such system is not yet designed to need the situation of surgical operation in opposite direction, And it can be potentially encountered problem when being applied to these situations.For example, such known surgical robot systems not yet by Be designed as by natural cavity (such as rectum or vagina) dispose for perform through natural cavity endo-surgical (or NOTES), such as gynecologic and/or urology procedure.Such system can be potentially encountered one or more problems, such as when Some organs, tissue or other surgical sites can not be entered when being inserted into natural cavity.

Current example embodiment be generally directed to solve surgical robot systems, apparatus and method (including with It is upper and it is described herein those) in one or more problems system, apparatus and method.

In an exemplary embodiment, a kind of surgery system is described in the disclosure.Surgery system can be used for performing Through natural cavity ESS (NOTES).Surgery system can include end effector assemblies, the first arm component and second Arm component.End effector assemblies can include the first device assembly and wrist units.First device assembly can include being used for Perform the first apparatus of surgery action.First device assembly may further include the first apparatus driven portion, and described first Apparatus driven portion be configured to by by relative to first axle move the first apparatus it is such in a manner of drive.Wrist units can So that the first device assembly can be fixed to.Wrist units can include being configured to by with relative to second axis the first apparatus of motion The wrist driven portion that such mode drives, second axis are different from first axle.First arm component can be fixed to end Portion's actuator assembly.First arm component can include the first arm component body, the first arm component connection (joint) part, wrist company Connect device part, the first apparatus drive component, wrist drive component and the first arm component drive component.First arm component body can be with Including first end and the second end relative with first end.First arm component coupling part can be used for the first arm group Part is connected to the second arm component.First arm component coupling part can be fixed to the first end of the first arm component body.Wrist Connector part can be configured to be fixed to wrist units.First apparatus drive component can be accommodated firmly in the first arm component In body.First apparatus drive component can include at least first integrated motor and the first apparatus drive part.First apparatus drives Dynamic part can drive the first apparatus quilt when wrist connector part is fixed to wrist units by the first integrated motor control Drive part.Wrist drive component can be accommodated firmly in the first arm component body.Wrist drive component can include at least the Two integrated motors and wrist drive part.Wrist drive part be able to can be consolidated by the second integrated motor control to work as wrist connector part Wrist driven portion is driven when arriving wrist units surely.First arm component drive component can be accommodated firmly in the first arm component body In.First arm component drive component can include at least the 3rd integrated motor and the first arm component drive part.First arm component Drive part can drive the first arm component body to be moved relative to the second arm component by the 3rd integrated motor control.

In another exemplary embodiment, a kind of surgery system is described in the disclosure.Surgery system can be used for Perform through natural cavity ESS (NOTES).Surgery system can include end effector assemblies and arm component.End Actuator assembly can include the first device assembly.First device assembly can include being used for the first device for performing surgery action Tool.First device assembly can also include the first apparatus driven portion, the first apparatus driven portion be configured to by By relative to first axle move the first apparatus it is such in a manner of drive.Arm component can include the first arm component body, the Two arm component bodies, the first arm component coupling part, end effector connector part, the first apparatus drive component and first Arm component drive component.First arm component body can include first end and the second end relative with first end.The Two arm component bodies can include first end and the second end relative with first end.First arm component coupling part can For the first arm component body is connected into the second arm component body.First arm component coupling part can be fixed to first The first end of arm component body.End effector connector part can be carried in the second end of the first arm component body For.End effector connector part can be configured at least a portion fixed to end effector assemblies.First apparatus Drive component can include at least first integrated motor and the first apparatus drive part.First apparatus drive part can be by One integrates motor control to drive the first apparatus quilt when end effector connector part is fixed to end effector assemblies Drive part.First arm component drive component can include at least second integrated motor and the first arm component drive part.First Arm component drive part can drive the first arm component body relative to the second arm component sheet by the second integrated motor control Body moves.

In another exemplary embodiment, a kind of surgery system is described in the disclosure.Surgery system can be used for Perform through natural cavity ESS (NOTES).Surgery system can include end effector assemblies and can be fixed to end First arm component of portion's actuator assembly.End effector assemblies can include the first device assembly and wrist units.First device Tool component can include the first apparatus and the first apparatus driven portion, and first apparatus is used to perform surgery action, institute State the first apparatus driven portion be configured to by by relative to first axle move the first apparatus it is such in a manner of drive.Wrist Component can be fixed to the first device assembly.Wrist units can include being configured to by with described in moving relative to second axis The wrist driven portion that such mode of first apparatus drives, second axis are different from first axle.First arm component can be with Including the first arm component body, wrist connector part, the first apparatus drive component and wrist drive component.First arm component body First end and the second end relative with first end can be included.Wrist connector part can be in the first arm component body First end at be provided.Wrist connector part can be configured to be fixed to wrist units.First apparatus drive component can be with It is accommodated firmly in the first arm component body.First apparatus drive component can include at least first integrated motor and the first device Tool drive part.First apparatus drive part can be fixed to wrist by the first integrated motor control to work as wrist connector part The first apparatus driven portion is driven during component.Wrist drive component can be accommodated firmly in the first arm component body.Wrist drives Dynamic component can include at least second integrated motor and wrist drive part.Wrist drive part can integrate motor control by second To drive wrist driven portion when wrist connector part is fixed to wrist units.

Brief description of the drawings

In order to be more fully understood from the disclosure, example embodiment and its advantage, referring now to reference to accompanying drawing carry out with Lower description, in the accompanying drawings, similar label indicate similar feature, and：

Figure 1A is the diagram of the perspective view of the example embodiment of external anchor；

Figure 1B is the perspective view of the example embodiment of the external anchor for the example embodiment for being attached to port assembly Another diagram；

Fig. 2A is with a port component, an apparatus arm component and an image capture assemblies, is configured in The diagram of the perspective view of the example embodiment of surgical device on position in opposite direction；

Fig. 2 B are with a port component, an apparatus arm component and an image capture assemblies, are configured in The diagram of the perspective view of the example embodiment of surgical device on the position of direction forward；

Fig. 3 A are with a port component, an apparatus arm component and an image capture assemblies, are configured in Another diagram of the perspective view of another example embodiment of surgical device on position in opposite direction；

Fig. 3 B are with a port component, an apparatus arm component and an image capture assemblies, are configured in Another diagram of the perspective view of another example embodiment of surgical device on the position of direction forward；

Fig. 4 A are the diagrams of the perspective exploded view of the example embodiment of port assembly；

Fig. 4 B are the diagrams of the side view of the example embodiment of port assembly；

Fig. 4 C are the sections of the example embodiment of port assembly of wherein first or second gate assembly on open position The diagram of figure；

Fig. 4 D are the sections of the example embodiment of port assembly of wherein first or second gate assembly on closed position The diagram of figure；

Fig. 5 A are the diagrams of the side view of the example embodiment of apparatus arm component；

Fig. 5 B are another diagrams of the side view of the example embodiment of apparatus arm component；

Fig. 5 C are the diagrams of the perspective view of the example embodiment of apparatus arm component；

Fig. 5 D are secured to the diagram of the side view of the example embodiment of the end effector assemblies of arm component；

Fig. 5 E are secured to the diagram of the side cross-sectional, view of the example embodiment of the end effector assemblies of arm component；

Fig. 5 F are the diagrams of the side view of the example embodiment for the end effector assemblies unclamped from arm component；

Fig. 5 G are the diagrams of the side cross-sectional, view of the example embodiment for the end effector assemblies unclamped from arm component；

Fig. 5 H are the diagrams of the perspective view of the example embodiment of end effector assemblies；

Fig. 5 I are the diagrams of the perspective view of the example embodiment of the apparatus with insulated part；

Fig. 5 J are the diagrams of the cross-sectional top view of the example embodiment of arm component；

Fig. 5 K are the diagrams of the perspective view of the example embodiment of arm component；

Fig. 5 L are the diagrams of the side view of the example embodiment of apparatus arm component；

Fig. 5 M are the diagrams of the side cross-sectional, view of the example embodiment of apparatus arm component；

Fig. 5 N are the diagrams of the cross-sectional top view of the example embodiment of the second arm component；

Fig. 5 O are the diagrams of the transparent fragmentary perspective view of the example embodiment of apparatus arm component；

Fig. 6 A are the diagrams of the perspective view of the example embodiment of image capture assemblies；

Fig. 6 B are the sectional views of another example embodiment of the image capture assemblies with internal temperature control component Diagram；

Fig. 6 C are the perspective views of another example embodiment of the image capture assemblies with internal temperature control component Diagram；

Fig. 6 D are the diagrams for including the perspective view when systems of the second image capture assemblies operates in the cavity of patient；

Fig. 7 is the flow chart for configuring the illustrative methods of surgical device；

Fig. 8 A-8E are the side views of the example embodiment of the method on the position forward of direction by surgical device configuration Diagram；

Fig. 8 F-8K are the side views of the example embodiment of the method on position in opposite direction by surgical device configuration Diagram；

Fig. 9 A are the diagrams of the perspective view of the example embodiment of surgical device system；

Fig. 9 B are the diagrams of the perspective view of another example embodiment of surgical device system；

Figure 10 A are the diagrams of the perspective view of the example embodiment of external anchor；And

Figure 10 B are the diagrams of the perspective view of another example embodiment of external anchor.

Although for convenience, similar label can be used for referring to similar element in the accompanying drawings, it will be appreciated that Arrive, entirely different modification is each considered in various example embodiments.

Embodiment

Example embodiment is will now be described with reference to the attached figures, accompanying drawing forms a part of this disclosure, and illustrates The example embodiment that can implement.As used in disclosure and the accompanying claims book, term " example embodiment ", " exemplary " and " the present embodiment " is not necessarily referring to single embodiment, although they can be with, and it is various Example embodiment easily can be combined and/or exchanged, without departing from the scope or spirit of example embodiment.In addition, such as Term used in disclosure and the accompanying claims book and is not intended to merely for the sake of the purpose of description example embodiment As limitation.In this aspect, as used in disclosure and the accompanying claims book, term " ... in " can include " ... in " and " ... on ", and term " one (a, an) " and " described " can include odd number and plural.In addition, As used in disclosure and the accompanying claims book, term " by " can also mean " from " that this is depending on context.This Outside, as used in disclosure and the accompanying claims book, term " if " can also mean " when ... " or " when When one ... ", this is depending on context.In addition, as used in disclosure and the accompanying claims book, word "and/or" It may refer to and comprising one or more any and whole possibility combinations in the associated project listed.

Recognize in the disclosure, although modern medical science and technology have developed recently, in modern surgery skill One or more problems are run into art and method (including MIS).For example, typical MIS operations need to open multiple cut to patient Mouthful, to allow to enter for camera and various other laparoscopic instruments to be inserted into the abdominal cavity of patient via these otch In.

In addition to the shortcomings that foregoing related to many sizable otch, recognize in the disclosure, be developed use In the MIS surgical operations including surgical machine robot arm (and being attached to their those apparatuses) for performing robot assisted Surgical robot systems also suffer from one or more problems.For example, recognize herein, the master of surgical robot systems Wanting technological challenge is, it is difficult to which offer, which is enough to resist, it is expected during surgery acts and/or be necessary to be applied by surgical robot systems It is added on the anchorage force and/or reaction force of the power of patient and stabilization.In this regard, on known surgical robot systems The action of some surgeries may need great energy and time, and the problem of as anchorage force and/or reaction force deficiency Result, it may not be possible to be duly executed or can not be performed at all.

Being realized another example the problem of being run into for surgical robot systems in the disclosure is, it is difficult in surgery machine Device people's system has been set (or installation) and has been ready to after performing surgical operation, and (surgery hand is such as attached to for apparatus The cutting of the end of art robots arm and/or grasping apparatus) the whole or even big portions for entering the abdominal cavity of patient are provided Part, region and the quadrant divided enters passage.That is, the surgical operation robot arm in system has been inserted into, is attached Even and it is suitably disposed in the abdominal cavity of patient and is ready to after performing surgery action, is attached to surgical machine robot arm The apparatus of end is normally limited to only into some parts, region and the quadrant in the abdominal cavity of patient.Recognize in the disclosure, so The problem of can be provided mainly due to known surgical robot systems and arm the possible free degree limited amount (more Say body, it is known that surgical robot systems and arm inside the free degree (that is, patient intraperitoneal offer the free degree) Limited amount) caused by.In this regard, surgical robot systems only provide 2 generally for each surgical machine robot arm The free degree inside between individual to 4.

As another example, although known surgical robot systems have been designed to perform in the abdominal cavity of patient The surgical operation of direction forward, but such system is not yet designed to need the situation of surgical operation in opposite direction, And it can be potentially encountered problem when being applied to these situations.For example, such known surgical robot systems not yet by Be designed as by natural cavity (such as rectum or vagina) dispose for perform through natural cavity endo-surgical (or NOTES), the per rectum urology procedure of the Via vagina gynecological surgery of such as women and male.Such system is likely encountered meeting One or more problems, some organs, tissue or other surgical operations can not be entered such as when being inserted into natural cavity Position.

Describe in the disclosure for solving known surgery system, apparatus and method (are included in the above and in this public affairs Those described in opening) the surgery systems of one or more problems, apparatus and method are (including used in MIS and through natural chamber Those in road endo-surgical (or NOTES)).It is appreciated that in the case where not departing from the teaching of the disclosure, the disclosure Described in principle can be applied to outside MIS and/or NOTES context, such as the mankind be not easy to enter environment In (including in a vacuum, in the outer space, and/or under poisonous and/or dangerous situation) perform scientific experiment and/or hand Art.

Surgery system (for example, surgical device 200)

Depict and be operable to by single passage or the opening of entering (for example, single otch (such as navel in Fig. 2A and Fig. 2 B In portion region or surrounding otch)) or by the natural cavity of patient (such as performing outside through natural cavity endoscope The rectum or vagina of section's operation (or NOTES), under referred to as " be open ") and be inserted into the surgical device in the abdominal cavity of patient or be The diagram of the example embodiment of system (for example, surgical device or system 200).Then the surgical device can be anchored, so as to Surgical device 200 is positioned in the opening.Surgical device 200 can include port assembly 210 and apparatus arm component 230.Surgery Equipment 200 can also include other elements, such as one or more apparatus arm components, one or more picture catching groups Part, one or more sub-arm assemblies etc..

As shown in FIG. 1A and 1B, surgical device 200 can be provided with the external anchor 1 for being attachable to port assembly 210. External anchor 1 can include the configurable components and external anchor connector 16 of section 2,6,10 and 14, the and of section 2,6,10 14 communicate with each other via connection part or coupling part 4,8 and 12.External anchor 1 can be operable to port assembly 210 Position and/or orientation (following " position ") are securely fixed in the single opening of patient or surrounding, and can be with operable It is expected during surgery acts or performs the operation or be necessary by (including the apparatus arm component of surgical device 200 to provide to be enough to resist 230) power that at least one or more apparatus applies and stable anchorage force and/or reaction force.Can also be Figure 10 A and The external anchor 1 of the form of controllable gyro black assembly 1000 shown in Figure 10 B can be operable to cooperate with port assembly 210 To provide one or more external frees degree.For example, external anchor 1 can be configured to provide 3 external frees degree. In example embodiment, one or more the external free degree can include port assembly 210 relative to external anchor 1 Twist motion, pivoting action, stretching motion and/or other motion.For example, the port assembly as shown in the arrow A in Figure 1B 210 twist motion can allow one or more attached apparatuses (including apparatus arm component 230) between surgery average of operation periods (i.e., after setup or installation) be repositioned to the other parts in abdominal cavity into patient, region and/or it is all as Limit.As another example, the pivoting action of the port assembly 210 as shown in the arrow B in Figure 1B can allow port assembly 210 It is positioned as the opening relative to patient into one of multiple angles, and can also allow for attached apparatus (including apparatus arm component 230) it is repositioned to the distal region into the abdominal cavity of patient (i.e., after setup or installation) between surgery average of operation periods. Other coupling parts of external anchor 1 can also be operable to assist and/or help the desired motion of port assembly 210.Outside Portion's anchor 1 can anchor to one or more static or stationary positioned object, all operating table/beds as shown in Figure 1A Siding track 300.Figure 10 A and Figure 10 B illustrate the example embodiment via external anchor (controllable gyro black assembly) 1000 Other example kinematics of the additional external free degree are provided.Below will at least in part, " (1) provides and external anchor and installed Controllable gyro black assembly 1000 is further described in port assembly ".

Surgical device 200 may further include one or more additional apparatuses for being attachable to port assembly 210 Arm component, all the second apparatus arm components 240 shown in B as shown in figures 3 a and 3b.Including the first apparatus arm component 230, the second apparatus One in the apparatus arm component of arm component 240, the 3rd apparatus arm component (not shown), the 4th apparatus arm component (not shown) etc. Or more can be attachable to or port assembly 210 can be fixed to.Such apparatus arm component, which can be operable to enter, suffers from Any and whole part, region and/or quadrant in the cavity of person and held on these parts, region and/or quadrant One or more surgery actions of row.For example, surgical device 200 can be configured in the forward direction (or " position of direction forward Put " or " position forward ") on perform surgery action (for example, as seen in figs. 2 b and 3b).As another example, surgical device 200 can be configured to perform surgery action (example on (or " position in opposite direction " or " opposite position ") in the opposite direction Such as, as shown in Fig. 2A and Fig. 3 A).

Surgical device 200 can also include one or more image capture assemblies, such as image capture assemblies 220.Outside Section's equipment 200 may further include one or more sub-arm assemblies, such as Fig. 2A, Fig. 2 B, shown in Fig. 3 A and Fig. 3 B Retractor arm component 250.In addition, surgical device 200 can include can perform surgery action or operation before, period and/ Or one or more other apparatus arm components in the opening of patient are inserted into via port assembly 210 afterwards, such as scheme 2A, Fig. 2 B, the suction/irrigation component 260 shown in Fig. 3 A and Fig. 3 B.In the disclosure it is appreciated that not departing from the religion of the disclosure In the case of leading, in example embodiment, surgical device 200 can be configured as various configurations and arrangement, including with Apparatus arm component (the three, the four, 5th etc. apparatus arm components) more or less than two, more than one picture catching Component (image capture assemblies such as second, third), sub-arm assembly (second, third etc. more or less than one Sub-arm assembly), and/or other laparoscopic tools more or less than one.

Port assembly (for example, port assembly 210)

Port assembly is illustrated (for example, port in Fig. 2A, Fig. 2 B, Fig. 3 A, Fig. 3 B, Fig. 4 A, Fig. 4 B, Fig. 4 C and Fig. 4 D Component 210) example embodiment.The single opening that port assembly 210 can be configured as being inserted into patient is (such as single Individual otch or natural cavity) in or surrounding and at least through external anchor (all outside anchors as shown in Figures 1 A and 1 B 1 Determine the controllable gyro black assembly 1000 shown in device 1 and Figure 10 A and Figure 10 B) and it is fixed to position.

Port assembly 210 can be the slim-lined construction for entering passage 210a with center, and center enters passage 210a by shape As passing through port assembly 210.Center can be used for inserting and removing apparatus into passage 210a, such as one or more devices Tool arm component 230,240, one or more image capture assemblies 220, one or more sub-arm assemblies 250,260, etc. Deng.In example embodiment, port assembly 210 can include first end section 212 and the second end section 214.First End section 212 and the second end section 214 attach or are formed as single object in which can be fixed to one another.Port assembly 210 are additionally may included in the interstitial segment 213 between first end section 212 and the second end section 214.First end section 212nd, the second end section 214 and interstitial segment 213 can attach with being fixed to one another as shown in Figure 4 A and 4 B shown in FIG., or Two or more in these sections can be formed as single object.In example embodiment, first end section 212 Can be the part fixed to external anchor 1 of port assembly 210, port assembly 210 can be fixed on relative to patient Single opening into about 0 degree to +/- 90 degree between angle, θ position on.Now will be below in reference to Fig. 2A, Fig. 2 B, figure 3A, Fig. 3 B and Fig. 4 A-D describe these and other elements of port assembly 210.

As shown at least Fig. 4 A and Fig. 4 B, port assembly 210 can include first end section 212.First end section 212 can have the first end passage 212a being formed by first end section 212.First end passage 212a can be with It is considered as the part that center enters passage 210a.First end section 212 can also include being operable to be fixed to outside The exterior section of the part of portion's anchor 1, such as first end section 212.

As shown in Fig. 4 A, Fig. 4 C and Fig. 4 D, first end section 212 can also include the first gate assembly 212b.First lock Component 212 can be configured to entrance of the control by first end passage 212a.For example, the first gate assembly 212b be able to can match somebody with somebody It is set to as shown in figure 4 c on open position, to allow to enter by first end passage 212a.First gate assembly 212b can also can be configured to as shown in Figure 4 D like that on closed position, to prevent or limit by first end passage 212a enters.The first gate assembly 212b can also can be configured to (or partially opening) the position (not shown) closed in part On.First gate assembly 212b can also can be configured to change between a closed position and a open position.

In example embodiment, the first gate assembly 212b can be provided at first end section in this way In 212, i.e. when the first gate assembly 212b is configured as shown in figure 4 c when on open position, first end passage 212a is not blocked substantially or entirely by the first gate assembly 212b.When surgeon it is expected via first end passage 212a (with And center enters passage 210a remainder) insert instruments into the cavity of patient (or removed from the cavity of patient Apparatus) when, the first gate assembly 212b can be configured as on open position.

Similarly, the first gate assembly 212b can be provided in first end section 212 in this way, i.e. when First gate assembly 212b is configured as shown in Figure 4 D like that when on closed position, and first end passage 212a is substantially or complete Blocked entirely by the first gate assembly 212b.As surgeon it is desirable to keep that during the gas injection of the cavity of patient, and/or when surgeon not Need to insert instruments into via first end passage 212a (or removing apparatus from the cavity of patient) in the cavity of patient When, the first gate assembly 212b can be configured as on closed position.

First gate assembly 212b can include the first deployable part 212b, and it can be configured to as shown in Figure 4 D like that when One gate assembly 212b deploys when being configured to closed position.When the first gate assembly 212b is configured to closed position, except it Outside he operates, the first deployable part 212b can be operable to substantially or entirely to stop gas medium (and/or other Jie Matter) pass through first end passage 212a.For example, if the cavity of patient just uses gas (such as carbon dioxide (CO₂)) noted During gas, the first gate assembly 212b (that is, the first deployable part 212b) can be configured to be essentially prevented carbon dioxide The cavity of patient is left by first end passage 212a.

First deployable part 212b can include the one or more first deployable components.For example, such as Fig. 4 C and figure Shown in 4D, the first deployable part 212b can include six deployable components.It is appreciated that the teaching of the disclosure is not being departed from In the case of, the first deployable part 212b may include more or less than the deployable component of six.In first deployable component Some or all can integrate and/or communicate with each other, such as can with some or all of first deployable component Operation to receive the mode of pressure (that is, gas medium) from common or the first source of identical 212b '.For example, when the first lock group When part 212b is configured to closed position, the first source 212b ' can be configured to provide normal pressure (that is, supply gas), so as to Deploy some or all of first deployable component and stop first end passage 212a (for example, hermetically stopping the One end passage 212a).Similarly, when the first gate assembly 212b is configured to open position, the first source 212b ' be able to can match somebody with somebody It is set to and negative pressure (that is, removing gas) is provided, to make one or more (or whole) in the first deployable component not open up Open (and/or retraction) and do not stop first end passage 212a.It is appreciated that in the case where not departing from the teaching of the disclosure, The first more than one source 212b ' can provide normal pressure and negative pressure to one or more deployable component.

Recognize in the disclosure, the first gate assembly 212b can include in addition to the first deployable part 212b or Valve (not shown) instead of the first deployable part 212b etc..Valve can be configured to essentially perform following same action, That is, first end passage 212a is stopped when the first gate assembly 212b is configured to closed position, when the first gate assembly 212b quilts First end passage 212a is not stopped when being configured to open position.Valve can be can be configured to perform more than with the disclosure Any kind of valve of the action of description.Valve can include but is not limited to ball valve, sluice valve etc., as long as valve can be configured to substantially Stop/do not stop first end passage 212a and prevent gas medium from passing through first end passage 212a.

As shown at least Fig. 4 A and Fig. 4 B, port assembly 210 can also include the second end section 214.The second end section Section 214 can have the second end passage 214a being formed by the second end section 214.The second end passage 214a can Substantially or entirely to be alignd with first end passage 212a.In example embodiment, the second end passage 214a and One end passage 212a is considered the part that center enters passage 210a.The second end section 214 can also include For providing the gas injection port (not shown) of gas injection to the cavity of patient.

As shown in Fig. 4 A, Fig. 4 C and Fig. 4 D, the second end section 214 can also include the second gate assembly 214b.Second lock Component 214 can be configured to entrance of the control by the second end passage 214a.For example, the second gate assembly 214b be able to can match somebody with somebody It is set to as shown in figure 4 c on open position, to allow to enter by the second end passage 214a.Second gate assembly 214b can also can be configured to as shown in Figure 4 D like that on closed position, to prevent or limit by the second end passage 214a enters.The second gate assembly 214b can also can be configured to (or partially opening) the position (not shown) closed in part On.Second gate assembly 214b can also can be configured to change between a closed position and a open position.

In example embodiment, the second gate assembly 214b can be provided at the second end section in this way In 212, i.e. when the second gate assembly 214b is configured as shown in figure 4 c when on open position, the second end passage 214a is not blocked substantially or entirely by the second gate assembly 214b.When surgeon it is expected via the second end passage 214a (with And center enters passage 210a remainder) insert instruments into the cavity of patient (or removed from the cavity of patient Apparatus) when, the second gate assembly 214b can be configured as on open position.

Similarly, the second gate assembly 214b can be provided in the second end section 214 in this way, i.e. when Second gate assembly 214b is configured as shown in Figure 4 D like that when on closed position, and the second end passage 214a is substantially or complete Blocked entirely by the second gate assembly 214b.As surgeon it is desirable to keep that during the gas injection of the cavity of patient, and/or when surgeon not Need to insert instruments into via the second end passage 214a (or removing apparatus from the cavity of patient) in the cavity of patient When, the second gate assembly 214b can be configured as on closed position.

Second gate assembly 214b can include the second deployable part 214b, and it can be configured to as shown in Figure 4 D like that when Two gate assembly 214b deploy when being configured to closed position.When the second gate assembly 214b is configured to closed position, except it Outside he operates, the second deployable part 214b can be operable to substantially or entirely to stop gas medium (and/or other Jie Matter) pass through the second end passage 214a.For example, if the cavity of patient just uses gas (such as carbon dioxide (CO₂)) noted During gas, the second gate assembly 214b (that is, the second deployable part 214b) can be configured to be essentially prevented carbon dioxide The cavity of patient is left by the second end passage 214a.

Second deployable part 214b can include the one or more second deployable components.For example, such as Fig. 4 C and figure Shown in 4D, the second deployable part can include six deployable components.It is appreciated that in the situation for the teaching for not departing from the disclosure Under, the second deployable part 214b may include more or less than the deployable component of six.One in second deployable component A bit or all it can integrate and/or communicate with each other, it is such as operable with some or all of the second deployable component To receive the mode of pressure (that is, gas medium) from common or the second source of identical 214b '.For example, when the second gate assembly When 214b is configured to closed position, the second source 214b ' can be configured to provide normal pressure (that is, supply gas), to make Some or all of second deployable component deploys and stops the second end passage 214a (for example, hermetically stopping second End run 214a).Similarly, when the second gate assembly 214b is configured to open position, the second source 214b ' can configure To provide negative pressure (that is, removing gas), to make some or all of second deployable component not deploy (and/or retraction) And the second end passage 214a is not stopped.It is appreciated that in the case where not departing from the teaching of the disclosure, more than one second Source 214b ' can provide normal pressure and negative pressure to one or more deployable component.In the disclosure it is also to be understood that One or more in first source 212b ' and the second source 214b ' can be same or different source.

Recognize in the disclosure, the second gate assembly 214b can include in addition to the second deployable part 214b or Valve (not shown) instead of the second deployable part 214b etc..Valve can be configured to essentially perform following same action, That is, the second end passage 214a is stopped when the second gate assembly 214b is configured to closed position, when the second gate assembly 214b quilts The second end passage 214a is not stopped when being configured to open position.Valve can be can be configured to perform more than with the disclosure Any kind of valve of the action of description.Valve can include but is not limited to ball valve, sluice valve etc., as long as valve can be configured to substantially Stop/do not stop the second end passage 214a and prevent gas medium from passing through the second end passage 214a.

As shown in Figure 4 A and 4 B shown in FIG., the second end section 214 can also include one or more anchor ports 216. Each anchor port 216 can be operable to so that apparatus arm component 230 or 240, image capture assemblies 220 and/or auxiliary Arm component 250 or 260 can be fixed to port assembly 210 and be unclamped from port assembly 210.Each anchor port 216 Can be formed as in various shapes, hole, slit, depression, projection, hook, fastener, magnet, buckle etc. any one or more It is multiple, being included in the above and describe in the disclosure those.For example, as shown in Figure 4 A and 4 B shown in FIG., in anchor port 216 What one or more shoulder sections 231 that can include being operable to allow apparatus arm component 230 or 240 were inserted into and attached One or more slits etc..

In example embodiment, as shown at least Fig. 4 A and Fig. 4 B, port assembly 210 can also include interstitial segment 213.Interstitial segment 213 can have the interstitial segment passage 213a being formed by interstitial segment 213.Interstitial segment passage 213a substantially or entirely can align with first end passage 212a and/or the second end passage 214a.For this point, In example embodiment, interstitial segment passage 213a and first end passage 212a and/or the second end passage 214a can Be considered as center enter passage 210a a part.Interstitial segment 213 can also include except the second end section 214 The gas injection port (not shown) of outside the (not shown) of the gas injection port or gas injection port of replacement the second end section 214.One In a little example embodiments, interstitial segment 213 can also include the first gate assembly 212 with describing more than and in the disclosure The interstitial segment gate assembly (not shown) similar with the second gate assembly 214.

In example embodiment, interstitial segment passage 213a can be operable to and the first gate assembly 212b and the second lock Component 214b cooperations are used for apparatus (such as apparatus arm component 230 or 240, image capture assemblies 220, sub-arm assembly 250 to rise Or 260 etc.) isolation ward effect.For example, when apparatus (such as apparatus arm component 230) is needed via port assembly 220 (in or Centre enters passage 210a) it is inserted into the cavity of patient and when the gas injection of the cavity of patient needs holding, the first gate assembly 212b can be configured to open position to allow apparatus to be inserted into interstitial segment passage 213a.In apparatus, (or its is big Part) by the first gate assembly 212b after, the first gate assembly 212b can be configured to closed position.Second gate assembly 214b Then open position can be configured to allow apparatus to be further inserted into by port assembly 210.Apparatus (or it Largely) after by the second gate assembly 214b, the second gate assembly 214b can be configured to closed position.

Enter passage 210a on center, center, which enters passage 210a, can include first end passage 212a, the second end Portion passage 214a and/or interstitial segment passage 213a, or by first end passage 212a, the second end passage 214a and/or Interstitial segment passage 213a is formed.Center can be operable to provide into passage 210a allows one or more apparatuses (all Such as one or more apparatus arm components 230 or 240, one or more image capture assemblies 220, one or more auxiliary Arm component 250 or 250 etc.) insertion (or remove) entry port (that is, path or passage).

In example embodiment, first end section 212, the second end 214 and/or interstitial segment 213 can be big Cause cylinder form.In the case where not departing from the teaching of the disclosure, first end section 212, the second end section 214 and/ Or interstitial segment 213 can also be formed as any one in various other shapes, size and/or size.

In example embodiment, the external diameter of first end section 212, the second end 214 and/or interstitial segment 213 can So that about 28, between 35mm, the internal diameter of first end section 212, the second end 214 and/or interstitial segment 213 (is not hindered Gear) can be about 16 between 21mm.In example embodiment, first end section 212, the second end 214 and/or in Between the external diameter of section 213 may be about 33mm, the internal diameter of first end section 212, the second end 214 and/or interstitial segment 213 (not being blocked) may be about 19mm.The length of first end section 212 can be about 80 between 100mm, the second end The length of section 214 can be about 80 between 200mm, and the length of interstitial segment 213 can be about 60 between 80mm. The total length of port assembly 210 can be about 320 between 380mm.In the disclosure it is appreciated that dimensions above is only to show Example embodiment illustrates, and in this regard, in the case where not departing from the teaching of the disclosure, these sizes can be with small Those sizes recorded more than in or more than.

Port assembly 210 (including first end section 212, the second end section 214, interstitial segment 213 and/or grappling Device port 216) any one of multiple material or more kind can be used to be formed, such as Surgical Grade metal, high intensity aluminium close Gold, stainless steel (such as 304/304L, 316/316L and 420), pure titanium, titanium alloy (such as Ti6A14V, NiTi) and cobalt chromium close Gold.First gate assembly 212b and the second gate assembly 214b can use any one of multiple material or more kind to be formed, all Such as biocompatible material (such as silicon rubber and polyurethane).In the disclosure it is appreciated that the teaching for not departing from the disclosure feelings Under condition, other materials can also be used.In the disclosure it is appreciated that the illustration that above material is only example embodiment is said It is bright, in the case where not departing from the teaching of the disclosure, these and other materials and composition can be used.

Image capture assemblies (for example, image capture assemblies 220)

In example embodiment, surgical device 200 can include can be configured to be inserted into port assembly 210 and It is attached to one or more image capture assemblies (for example, image capture assemblies 220) of port assembly 210.Picture catching group In part 220 it is one or more can include picture catching body 224, can more bend bodies 222 and anchor portion 220a.

As shown in Figure 6A, picture catching body 224 can include one or more cameras 227.Each camera 227 Standard and/or high definition 2 can be included and tie up (2D) and/or 3-dimensional (3D) camera, as more than with the disclosure as described in, this Camera be operable to catch imaging, such as 2D and/or solid and/or Autostereoscopic 3D imaging (including image, video and/or Audio), and the imaging (including image, video and/or audio) of seizure is provided via wiredly and/or wirelessly communicating in real time To one or more computing devices (or controller or system) positioned at neighbouring and/or long-range surgical team 904.Calculate Equipment (or controller or system) can include one or more processors, one or more man-machine interfaces, one or more Multiple graphic alphanumeric displays (computer screen, video screen, portable equipment, wearable device (glasses etc.)) and/or Other equipment and/or system, these example are illustrated in Fig. 9 A and Fig. 9 B.It is one or more of positioned at it is neighbouring and/ Or long-range surgical team 904 can be operable to check, listen attentively to, feel, analyze and/or control it is (such as distant to take the photograph, scale, locating Reason, change, mark, change resolution ratio etc.) in one or more standards and/or high definition 2D and/or 3D graphic alphanumeric display 902 (such as Fig. 9 A's and Fig. 9 B is illustrated) and/or the portable and/or wearable device suitable for receiving 2D and/or 3D imagings The imaging for showing or representing on (not shown).Picture catching body 224 can also include one or more irradiation sources 229, all Such as LED, these irradiation sources 229 be operable to irradiate or feel patient cavity at least one or more part, section And/or quadrant, the apparatus provided in the cavity of patient is provided.Picture catching body 224 may further include one or more Multiple internal temperature control components, these internal temperature control components, which are operable to control, (such as reduces) picture catching body The temperature of 224 one or more parts.

As shown in Fig. 6 A example embodiment, one or more in image capture assemblies 220 can include attached To picture catching body 224 can more bend bodies 222.Can more bend bodies 222 can be it is any it is elongated can bend more, can More arch, can multi-link and/or serpentine (lower be referred to as " can bend more ") body, in addition to other aspects, the body can be by Surgical team (such as via computing device/controller) control/configuration is along can be in multiple positions of more bend bodies 222 One or more opening positions stretch and/or bend (and keep as stretch and/or bend), in multiple bent portions In one or more bent portions in bending (and keep as bent portion), and/or in multiple directions one Stretch and/or bend on individual or more direction (and stretch and/or bend as keeping).For example, as illustrated in figure 8h, can More bend bodies 222 can be able to be along can be how curved by surgical team (such as via computing device/controller) control/configuration Bent at Qu Benti 222 two different position 222a and 222b, and each may each comprise in these curves is in office Where upward any bent portion.It is appreciated that in the case where not departing from the teaching of the disclosure, can more bend bodies 222 can With can be configured to along can more bend bodies 222 more or less than being bent on the position of two.Can be how curved it is also to be understood that working as Qu Benti 222 be configured as along can more bend bodies 222 any opening position bend when, curve can be by surgical team (such as via computing device/controller) keep and/or decontrol (or be configured as not bending, less bending or stretch).

Can more bend bodies 222 can be formed in a manner of any one as known in the art or more kind.For example, can be more Bend body 222 can include multiple sections, and each section can be controlled/be configured to the section and is pivotally positioned at relative to phase Such mode on multiple positions of adjacent section is linked to adjacent section.As another example, can more bend bodies 222 can wrap Include in multiple lines, the cable etc. that can be entirely distributed in this way in more bend bodies 222, i.e. one in cable or it Pulling/release of combination, shortening/extension, tension/release etc. make it possible in one or more bent portions and In one or more directions realize can more bend bodies 222 one or more positions above-mentioned bending.Make For another example, can more bend bodies 222 can include being used for multiple springs, gear, the motor for realizing above-mentioned bending Deng.In the disclosure it is appreciated that can more bend bodies 222 can also include above-mentioned method in it is one or more Combination.

One or more internal temperature control component (not shown) can provide for each image capture assemblies 220. Each internal temperature control component can be operable to the foregoing camera (one or more) 227 of control (such as reducing), shine Penetrate source (one or more) 229 and/or can more bend bodies 222 temperature and/or heating.In example embodiment, institute Stating one or more internal temperature control components can be operable to use one or more of gases, liquid and/or solid To perform such temperature control.For example, gas and/or liquid external source can be used via one or more pipes etc. and by Feeding, maintain and/or adjust.In example embodiment, for provide, adjust and/or discharge gas and/or liquid described in One or more pipes can have about 0.5mm to the diameter between 3mm, but the size of such pipe can also it is bigger or It is smaller.In the disclosure it is appreciated that one or more of pipes (if you are using) and any solid (if used Words) inside of image capture assemblies 220 can be provided through, the size without increasing image capture assemblies 220 is (such as straight Footpath) and/or influence can more bend bodies 222 controllability/configurability.

When internal temperature control component is using gas etc., example embodiment can also be operable to via one or more Multiple pipes etc. to body cavity provide as gas and/or in gas as the outside drain of body cavity or recycling.In example In embodiment, gas can include carbon dioxide, oxygen and/or other gases.Such gas can be with further operable To help that the gas injection of the cavity of patient is provided and/or kept between surgery average of operation periods.When internal temperature control component utilizes liquid Deng when, example embodiment can be operable in liquid as the outside drain of body cavity or recycling.Work as internal temperature When control assembly is using solid etc., such solid can possess following properties, i.e. enable surgical team such as by applying The energy of power-up power or other forms changes the temperature of solid, to control and (such as reduce) the one of image capture assemblies 220 The temperature of individual or more individual component and/or heating.In example embodiment, in the case where not departing from the teaching of the disclosure, Internal temperature control component can utilize the combination of gas, liquid, solid etc..

Image capture assemblies 220 can be fixed to port assembly 210 by one or more of modes in many ways, It is included in the above and in the disclosure for that of apparatus arm component 230 or 240 and/or the description of sub-arm assembly 250 or 260 A bit.For example, image capture assemblies 220 can also include being operable to image capture assemblies 220 attached (or fixed) to port The anchor portion 220a of one or more anchor ports 216 of component 210 is (for example, consolidating similar to apparatus arm component 220 Determine part 231a).

In example embodiment, picture catching body 224 and Ke Duo bend bodies 222 may each be substantial cylindrical shape Shape.In the case where not departing from the teaching of the disclosure, picture catching body 224 and Ke Duo bend bodies 222 can also be formed as Any one in various other shapes, size and/or size.

In example embodiment, can the length of more bend bodies 222 can be about 50 between 150mm.In example In embodiment, can more bend bodies 222 length can also by surgical team 904 will shooting head arm assembly be inserted into patient Cavity in before, during and/or after adjust.Can the external diameters of more bend bodies 222 can be about 5 between 7mm.At this It is appreciated that dimensions above is only illustrating for example embodiment in open, in this regard, the disclosure is not being departed from Teaching in the case of, these sizes can be less than or greater than more than record those sizes.

Can more bend bodies 222 any one of multiple material or more kind can be used to be formed, stainless steel etc.. In the disclosure it is appreciated that in the case where not departing from the teaching of the disclosure, other materials can also be used.In the disclosure Understand, above material is only illustrating for example embodiment, in the case where not departing from the teaching of the disclosure, can be made With these and other materials and composition.

As shown in Fig. 6 B and Fig. 6 C, image capture assemblies 220 may further include positioned at one of camera 227 or more Gas hood 228 near multiple lens.Image capture assemblies 220 may further include what is provided positioned at image capture assemblies 220 One in irradiation source 229 and/or any other sensor (temperature sensor, pressure sensor, humidity sensor etc.) Or more near gas hood 228.Gas hood 228 can include one or more openings etc., one or more extraneous gas Source 228 and one between one or more the extraneous gas source and one an or more opening of gas hood 228 Individual or more individual pipe, passage etc..In operation, gas hood 228 can be operable to one or more via gas hood 228 Be open to before camera 227 (and before irradiation source 229 and/or other sensors) region provide pressurization gas (and/ Or liquid), such as carbon dioxide, oxygen, other gases or liquid or combinations thereof.

Whole system can also include one or more single image capture assemblies, all as shown in figure 6d independent Image capture assemblies 320.Single image capture assemblies 320 can magnetically anchor to patient's by magnetic anchor 310 The inwall of cavity, via permanent magnet, electromagnet etc..In some example embodiments, magnetic anchor 310 can also Via external anchor (not shown) by fixation/holding in place.Single image capture assemblies 320 can include one or more Multiple cameras 327, and one or more irradiation sources 329 can also be included.

Single image capture assemblies 320 can be operable to provide it is one or more in various views, including but It is not limited to normal view, scaling view, wide-angle view and/or the panoramic view of the cavity of patient.Single image capture assemblies 320 can be positioned in a manner of the accessible view of the area-of-interest in the cavity for providing patient to surgical team 904.Close Positioned and fix in position in by single image capture assemblies 320, as shown in Figure 6 D, single image capture assemblies 320 can The center that port assembly 210 is inserted through in a manner of by one or more of in many ways enters into passage 210a The desired locations of the inwall of the cavity of patient, including the use of surgical technique and tools (not shown), single image capture assemblies 320 are attached Be connected to image capture assemblies 220 can more bend bodies it is similar can more bend body (not shown) (such as Fig. 2A, Fig. 2 B, figure Shown in 3A, Fig. 3 B and Fig. 6 D), etc..

Apparatus arm component (for example, apparatus arm component 230,240)

In example embodiment, surgical device 200 can include one or more apparatus arm components (for example, first Apparatus arm component 230, the second apparatus arm component 240, the 3rd apparatus arm component (not shown), the 4th apparatus arm component (not shown) Deng), it each can be configured to be attached to port assembly 210.

One or more in apparatus arm component (such as 230,240) can include multiple apparatus arm sections (or arm component, The first arm component 330, the second arm component 360 and shoulder components 231 such as at least shown in Fig. 5 C) and multiple coupling parts it is (all The first arm component coupling part 350, the first shoulder coupling part 370 and the second shoulder connection part as shown at least Fig. 5 L and Fig. 5 M Configurable series connection (or linear) 380) is divided to arrange and be integrated into and/or be connected in apparatus arm section and/or coupling part One or more at least one end apparatuses (or end effector) 239,342,344.End effector 239,342, 344 can be any apparatus being suitable in surgical operation, such as cut and/or grasp apparatus.Apparatus arm component is (such as 230th, 240) in it is one or more can also include one or more irradiation source (not shown), LED etc., these photograph The source of penetrating is operable to irradiate end effector 239,342,344, one or more parts of apparatus arm component and/or patient Part, section and/or the quadrant in abdominal cavity.

One or more in apparatus arm component (such as 230,240) can also include one or more integrated motors (for example, integrated motor 332,334,336,339 and at least Fig. 5 M, Fig. 5 N shown at least Fig. 5 E, Fig. 5 G, Fig. 5 J and Fig. 5 K With the integrated motor 362,364 shown in Fig. 5 O and 366), each integrated motor is operable to provide at least one for apparatus arm component The individual free degree.Each integrated motor (for example, integrated motor 332 shown at least Fig. 5 E, Fig. 5 G, Fig. 5 J and Fig. 5 K, 334,336, 339 and the integrated motor 362,364 at least shown in Fig. 5 M- Fig. 5 O and 366) can be intactly (can be via except for example Outside the power supply and/or controlling cable of port assembly feeding) it is contained in apparatus arm component (or arm component, such as the first arm component 330th, the second arm component 360 and shoulder components 231) in, be such as contained in complete in housing 330 ' and 360 ' and operate independently from Motor.One or more tactiles that can also include integrating and/or force feedback subsystem in apparatus arm component (are not shown Go out), the subsystem is communicated with one or more in integrated motor and/or other sensors and/or apparatus, operable Come one or more during multiple feedback responses are provided and/or measured to surgical team (such as via computing device/controller) It is individual, including with apparatus arm component, close to and/or neighbouring apparatus arm component position (including orientation), the power, close that applies Those of the correlation such as degree, temperature, pressure, humidity.For example, surgical team 904 can be provided with the primary input of executor etc. Equipment, these executors etc. has tactile and/or force feedback, and is designed to high accuracy, high dexterity and minimal negative Load reverses the small finger of surgical team 904, wrist bending and/or other arms/shoulder Motion mapping to apparatus arm (such as 230, 240) motion and feel these motions, while the feedback of contact resistance (such as tissue resistance) is also provided.

When apparatus arm component (such as 230,240) is anti-including one or more irradiation sources, camera, tactile and/or power Present apparatus and/or when other sensors and/or apparatus, as more than with the disclosure as described in, apparatus arm component can also wrap Include gas hood, the gas hood such as described above with respect to image capture assemblies 220.One in apparatus arm component (such as 230,240) Or more may further include one or more internal temperature control components, these internal temperature control components are operable To control and (such as reduce or improve) temperature of one or more parts of apparatus arm component.

Fig. 2A, Fig. 2 B, Fig. 3 A, Fig. 3 B, Fig. 5 A and Fig. 5 B example embodiment as shown in, including the first apparatus arm group It can each include first the 231, second apparatus arm section of apparatus arm section (or shoulder section) (or the in the apparatus arm component of part 230 One arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (as shown at least Fig. 5 C), the 3rd apparatus arm section (or the second arm joint Section) 235 (as shown at least Fig. 5 A-5B), 330 (as shown at least Fig. 5 C) and the 4th apparatus arm section (or hand section) 237.Device Tool arm component 230 can also include：First coupling part (or shoulder connection section) 232, it has shoulder yaw (sway) joint Section 380 and shoulder pitching (pitch) connection section 370；Second coupling part (or toggle section) 234 (as shown at least Fig. 5 A-5B), 350 (as shown at least Fig. 5 C)；3rd coupling part (or carpopodium section) 236 (as shown at least Fig. 5 A-5B), axis B is (as at least Shown in Fig. 5 D-H)；And end effector coupling part 238 (as shown at least Fig. 5 A-5B), axis A (such as at least Fig. 5 D-H institutes Show).Each can manually and/or via computing device (or system) be configured in foregoing coupling part works as apparatus arm group Part be provided at when in the abdominal cavity of patient for attached apparatus arm section (and end effector 239,342,344) provide one or More internal frees degree.For example, the first coupling part (or shoulder connection section) 232 can be operable to as the second apparatus arm section (or first arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (as shown at least Fig. 5 C) provide with one of mankind's shoulder or One or two similar free degree of two frees degree.Specifically, shoulder yaw connection section 380 can (as shown at least Fig. 5 M) To be operable to as the second apparatus arm section (or first arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (such as at least Fig. 5 C institutes Show) motion (for example, rotation) (as shown at least Fig. 5 M) relative to axis E is provided.In addition, shoulder pitching connection section 370 is (such as At least shown in Fig. 5 M) can be operable to for the second apparatus arm section (or first arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (as shown at least Fig. 5 C) provide the motion (for example, rotation) (as shown at least Fig. 5 M) relative to axis D.As another Example, the second coupling part (or toggle section) 234 (as shown at least Fig. 5 A-5B), 350 (as shown at least Fig. 5 C) be able to can be grasped Make to be carried for the 3rd apparatus arm section (or second arm joint section) 235 (as shown at least Fig. 5 A-5B), 330 (as shown at least Fig. 5 C) For one or two free degree similar with one or two free degree of mankind's shoulder.Specifically, the second coupling part (or elbow Section) 234 (as shown at least Fig. 5 A-5B), 350 can be operable to (as shown at least Fig. 5 C) for the 3rd apparatus arm section (or Second arm joint section) 235 (as shown at least Fig. 5 A-5B), 330 (as shown at least Fig. 5 C) provide relative to axis C motion (example Such as, rotate) (as shown at least Fig. 5 M).As another example, (such as at least Fig. 5 A-5B of the 3rd coupling part (or carpopodium section) 236 It is shown), axis B can be operable to (as shown at least Fig. 5 D-H) for the 4th apparatus arm section (or hand section) 237 provide and people One or two similar free degree of one or two free degree of class wrist.Specifically, the 3rd coupling part (or carpopodium section) 236 (as shown at least Fig. 5 A-5B), axis B can be operable to (as shown at least Fig. 5 D-H) as the 4th apparatus arm section (or hand Section) 237 provide motion (for example, rotation) (as shown at least Fig. 5 M) relative to axis B.As another example, end is held Row device coupling part 238 (as shown at least Fig. 5 A-5B), axis A can be operable to as end (as shown at least Fig. 5 D-H) Actuator 239,342,344 provides one or more frees degree.Specifically, end effector coupling part 238 is (as at least Shown in Fig. 5 A-5B), axis A can be operable to (as shown at least Fig. 5 D-H) for end effector 239,342,344 provide phase Motion (for example, rotation) (as shown at least Fig. 5 M) for axis A.Therefore, one or more in apparatus arm component can Manually and/or via computing device/controller to be configured to provide for seven or more the individual internal degree of freedoms, and with by holding Mouthful component 210 and controllable gyro black assembly 1000 (referring to Figure 10 A and Figure 10 B)) provide it is at least one to three or more individuals Together, one or more in apparatus arm component can manually and/or via computing device/controller be matched somebody with somebody the outer free degree It is set to and provides total of eight to ten or more the frees degree.Recognize herein, for apparatus arm component it is foregoing at least The seven individual internal degree of freedoms enable at least surgical arm proper motion gamut (via controller/calculating Machine-human interface/executor/primary input equipment, all examples shown in B as shown in figs. 9 a and 9b) by essentially directly map and/ Or it is transformed into apparatus arm component.

In the case where not departing from the teaching of the disclosure, including coupling part 232,370,380,234,350 and 236 (and Along axis B coupling part) and each coupling part of apparatus coupling part 238 (and coupling part along axis A) can be with Any one including gear and/or gear assembly or more kind configuration, including spur gear configuration, planetary gear configuration, cone tooth Wheel configuration, spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear are matched somebody with somebody Put.In example embodiment, each apparatus arm component can also include it is one or more be internally integrated motor 332,334, 336th, 339,362,364,366 etc., these are internally integrated motor etc. and are operable to actuating (for example, via the first apparatus drive division Point 332a, the second apparatus drive part 334a, wrist drive part 336a, elbow drive part 362a, shoulder pitching drive part 364a, Shoulder yaw drive part 366a) each coupling part is (for example, the first apparatus driven portion 342a, the second apparatus driven part 344a, wrist driven portion 346a, elbow driven portion 352, shoulder pitching driven portion 364b, the first shoulder yaw is divided to be driven Part 366b, the second shoulder yaw driven portion 366c (if desired), the 3rd shoulder yaw driven portion 366d) (bag Include coupling part 232,370,380,234,350 and 236 (and along axis B and axis A coupling part)) and/or apparatus arm section 231st, 233,360,235,330 and 237 gear.In this regard, in example embodiment, more than and in the disclosure It can be each operable in the integrated motor of description, coupling part and/or apparatus arm section via wiredly and/or wirelessly communicating Carried out back and forth or unidirectionally with one or more computing device/controllers positioned at neighbouring and/or distant place surgical team 904 Communication, such as receive control command and/or send information.In addition, in example embodiment, retouch more than and in the disclosure In integrated motor, coupling part and/or the apparatus arm section stated can each be operable to via wiredly and/or wirelessly transmit from External power source and/or computing device/controller receiving power and/or control signal.

In example embodiment, as shown in Fig. 5 C-5M, apparatus arm section component (for example, apparatus arm section component 230,240) End effector assemblies (for example, end effector assemblies 340) can be included.Apparatus arm section component is (for example, apparatus arm section component 230th, the first arm component (for example, first arm component 235,330) can also 240) be included.Apparatus arm section component is (for example, apparatus arm Section component 230, the second arm component (for example, second arm component 233,360) 240) can also be included.

End effector assemblies (for example, end effector assemblies 340)

The example embodiment of end effector assemblies (for example, end effector assemblies 340) can include the first apparatus Component.End effector assemblies 340 can also include the second device assembly.Although accompanying drawing is illustrated with the first apparatus and The end effector assemblies of two apparatuses, but be appreciated that in the disclosure in the case where not departing from the teaching of the disclosure, end Actuator assembly can have more other apparatuses, or can only have the first apparatus or the second apparatus.End performs Device assembly 340 can also include wrist units.

(i) the first device assembly

The first apparatus that the example embodiment of first device assembly can include being used to perform surgery action is (for example, the One apparatus 342).In the case where not departing from the teaching of the disclosure, the first apparatus 342 can be any surgical instruments.

In example embodiment, the first apparatus 342 can be configured to receive to be applied from first energy source (not shown) Electric current (for example, first electric current) to perform the action of electrosurgical unit.Although the first apparatus may be more than and in this public affairs It is described as receiving electric current in opening, it is to be appreciated that in the case where not departing from the teaching of the disclosure, the first apparatus can also can Configuration comes receiving voltage current potential, heat energy, heat, the application of cold temperature, radiation etc. to perform the surgery action.

First device assembly can also include the first apparatus driven portion (for example, the first apparatus driven portion 342a).The first apparatus drive part 332a that first apparatus driven portion 342a can be configured to be integrated motor 332 drives It is dynamic.First apparatus driven portion 342a can be moved as the first apparatus 342 by the first apparatus drive part 332a Mode drives.For example, the first apparatus driven portion 342a can be actuated to transport relative to first axle (for example, axis A) Dynamic first apparatus 342.In this regard, such motion of the first apparatus 342 can be that the distal end of the first apparatus 342 is relative In the rotation of the near-end of the first apparatus 342, and such near-end may be used as the pivot of such motion.

First apparatus driven portion 342a can be configured to by any of the first apparatus drive part 332a drivings Mechanism, equipment etc..For example, in the case where not departing from the teaching of the disclosure, the first apparatus driven portion 342a can include Any one of gear and/or gear assembly or more kind configuration, including spur gear configuration, planetary gear are configured, bevel gear is matched somebody with somebody Put, spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or Mechanical arrangements (such as bracing wire and pulley).Although accompanying drawing illustrates the end with a first apparatus driven portion and performed Device assembly, but in the disclosure it is appreciated that in the case where not departing from the teaching of the disclosure, end effector assemblies can have There is the first more than one apparatus driven portion.

In the example embodiment that end effector assemblies 340 can be dismantled from arm component 331 and (that is, unclamped) wherein, It is appreciated that the first apparatus drive part 332a of integrated motor 332 can be operable to when end effector assemblies 340 are fixed (that is, being attached) is to driving the first apparatus driven portion 342a during arm component 331.Specifically, the first of motor 332 is integrated Apparatus drive part 332a can be operable to when wrist connector part 338 arrives end effector group by fixation (that is, being attached) The wrist units of part (and more specifically, the connector 348 of end effector assemblies 340) (enters below and in the disclosure One step describe) when drive the first apparatus driven portion 342a.

In the example embodiment that end effector assemblies 340 can be dismantled from arm component 331 and (that is, unclamped) wherein, It is appreciated that one or more electric wires that connects and can disconnect, cable etc. be provided to enable the first apparatus 342 from Energy source receives electric current to perform the action of electrosurgical unit.

First device assembly can also include the first apparatus insulated part (for example, first apparatus insulated part 342b).The One apparatus insulated part 342b can may be provided in one or more portions of the first apparatus 342 and end effector assemblies 340 / to be electrically isolated one an or more part for the first apparatus 342 and end effector assemblies 340, (or electricity is absolutely Edge, it is thermally isolated, heat insulation etc.).In example embodiment, the first apparatus insulated part 342b can may be provided in the first apparatus 342 and first between the 342a of apparatus driven portion so as to make the first apparatus 342 and the first apparatus driven portion 342a electricity every From (or be electrically insulated, be thermally isolated, heat insulation etc.).It is such to be electrically isolated (or be electrically insulated, be thermally isolated, heat insulation etc.) for protection outside Electricity (or heat) sensing unit/part of section's arm component and/or also prevent that such electric current is (or voltage potential, heat energy, heat, cold Temperature apply, radiation etc.) undesirably via the miscellaneous part of the first apparatus driven portion 342a and/or surgery arm component/ Part is probably desirable by reaching the second apparatus 344.

First apparatus insulated part 342b can use any one of multiple material or more kind to be formed, and such as electricity is exhausted Edge material, heat insulator, plastics, elastomer, ceramics, glass and mineral matter.In the disclosure it is appreciated that not departing from this In the case of disclosed teaching, other materials can also be used.

First apparatus 342 can use any one of multiple material or more kind to be formed, such as Surgical Grade metal, height Strength aluminium alloy, stainless steel (such as 304/304L, 316/316L and 420), pure titanium, titanium alloy (such as Ti6A14V, NiTi), Cochrome and magnesium alloy.In the disclosure it is appreciated that in the case where not departing from the teaching of the disclosure, it can also be used His material.In addition, the first apparatus 342 can include being used to receive and accommodate at least one of the first apparatus insulated part 342b Opening divided etc..In example embodiment, first axle (for example, axis A) can be formed through the first apparatus 342 The center of opening.Although opening can be depicted as being shaped as circular and the first apparatus insulated part 342b quilt in the accompanying drawings The corresponding exterior section accommodated in the opening can be depicted as being shaped as circle in the accompanying drawings, but manage in the disclosure Solution, in the case where not departing from the teaching of the disclosure, opening and such corresponding exterior section can be formed a kind of or more Various other shapes, include but is not limited to square, rectangle, ellipse, pentagon, hexagon etc..

(ii) the second device assembly

The second apparatus that the example embodiment of second device assembly can include being used to perform surgery action is (for example, the Two apparatuses 344).In the case where not departing from the teaching of the disclosure, the second apparatus 344 can be any surgical instruments.

In example embodiment, the second apparatus 344 can be configured to receive to be applied from the second energy source (not shown) Electric current (for example, second electric current) to perform the action of electrosurgical unit.Although the second apparatus may be more than and in this public affairs It is described as receiving electric current in opening, it is to be appreciated that in the case where not departing from the teaching of the disclosure, the second apparatus can also can Configuration comes receiving voltage current potential, heat energy, heat, the application of cold temperature, radiation etc. to perform the surgery action.

Second device assembly can also include the second apparatus driven portion (for example, the second apparatus driven portion 344a).The second apparatus drive part 334a that second apparatus driven portion 344a can be configured to be integrated motor 334 drives It is dynamic.Second apparatus driven portion 344a can be moved as the second apparatus 344 by the second apparatus drive part 334a Mode drives.For example, the second apparatus driven portion 344a can be actuated to transport relative to first axle (for example, axis A) Dynamic second apparatus 344.In this regard, such motion of the second apparatus 344 can be that the distal end of the second apparatus 344 is relative In the rotation of the near-end of the second apparatus 344, and such near-end may be used as the pivot of such motion.

Second apparatus driven portion 344a can be configured to by any of the second apparatus drive part 334a drivings Mechanism, equipment etc..For example, in the case where not departing from the teaching of the disclosure, the second apparatus driven portion 344a can include Any one of gear and/or gear assembly or more kind configuration, including spur gear configuration, planetary gear are configured, bevel gear is matched somebody with somebody Put, spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or Mechanical arrangements (such as bracing wire and pulley).Although accompanying drawing illustrates the end with a second apparatus driven portion and performed Device assembly, but in the disclosure it is appreciated that in the case where not departing from the teaching of the disclosure, end effector assemblies can have There is the second more than one apparatus driven portion.

In the example embodiment that end effector assemblies 340 can be dismantled from arm component 331 and (that is, unclamped) wherein, It is appreciated that the second apparatus drive part 334a of integrated motor 334 can be operable to when end effector assemblies 340 are fixed (that is, being attached) is to driving the second apparatus driven portion 344a during arm component 331.Specifically, the second of motor 334 is integrated Apparatus drive part 334a can be operable to when wrist connector part 338 arrives end effector group by fixation (that is, being attached) The wrist units of part (and more specifically, the connector 348 of end effector assemblies 340) (enters below and in the disclosure One step describe) when drive the second apparatus driven portion 344a.

In the example embodiment that end effector assemblies 340 can be dismantled from arm component 331 and (that is, unclamped) wherein, It is appreciated that one or more electric wires that connects and can disconnect, cable etc. be provided to enable the second apparatus 344 from Energy source receives electric current to perform the action of electrosurgical unit.

Second device assembly can also include the second apparatus insulated part (for example, second apparatus insulated part 344b).The Two apparatus insulated part 344b can may be provided in one or more portions of the second apparatus 344 and end effector assemblies 340 / to be electrically isolated one an or more part for the second apparatus 344 and end effector assemblies 340, (or electricity is absolutely Edge, it is thermally isolated, heat insulation etc.).In example embodiment, the second apparatus insulated part 344b can may be provided in the second apparatus 344 and second between the 344a of apparatus driven portion so as to make the second apparatus 344 and the second apparatus driven portion 344a electricity every From (or be electrically insulated, be thermally isolated, heat insulation etc.).It is such to be electrically isolated (or be electrically insulated, be thermally isolated, heat insulation etc.) for protection outside Electricity (or heat) sensing unit/part of section's arm component and/or also prevent that such electric current is (or voltage potential, heat energy, heat, cold Temperature apply, radiation etc.) undesirably via the miscellaneous part of the second apparatus driven portion 344a and/or surgery arm component/ Part is probably desirable by reaching the first apparatus 342.

Second apparatus insulated part 344b can use any one of multiple material or more kind to be formed, and such as electricity is exhausted Edge material, heat insulator, plastics, elastomer, ceramics, glass and mineral matter.In the disclosure it is appreciated that not departing from this In the case of disclosed teaching, other materials can also be used.

Second apparatus 344 can use any one of multiple material or more kind to be formed, such as Surgical Grade metal, height Strength aluminium alloy, stainless steel (such as 304/304L, 316/316L and 420), pure titanium, titanium alloy (such as Ti6A14V, NiTi), Cochrome and magnesium alloy.In the disclosure it is appreciated that in the case where not departing from the teaching of the disclosure, it can also be used His material.In addition, the second apparatus 344 can include being used to receive and accommodate at least one of the second apparatus insulated part 344b Opening divided etc..In example embodiment, first axle (for example, axis A) can be formed through the second apparatus 344 The center of opening.Although opening can be depicted as being shaped as circular and the second apparatus insulated part 344b quilt in the accompanying drawings The corresponding exterior section accommodated in the opening can be depicted as being shaped as circle in the accompanying drawings, but manage in the disclosure Solution, in the case where not departing from the teaching of the disclosure, opening and such corresponding exterior section can be formed a kind of or more Various other shapes, include but is not limited to square, rectangle, ellipse, pentagon, hexagon etc..

(iii) cooperation of the first device assembly and the second device assembly

In example embodiment, the first apparatus (for example, first apparatus 342) and the second apparatus are (for example, the second apparatus 344) it can optionally move/drive independently of each other.In example embodiment, the first apparatus 342 and the second apparatus 344 can optionally be moved in a manner of similar or identical/be driven, and such as can simultaneously be moved/be driven, for identical lasting Time, for same distance and/or with identical output energy.Although accompanying drawing is illustrated with the first apparatus and the second device The end effector assemblies of tool, but in the disclosure it is appreciated that in the case where not departing from the teaching of the disclosure, end performs Device assembly can have more other apparatuses, or can only have the first apparatus or the second apparatus.For example, the first apparatus 342 and second apparatus 344 can cooperation formed clasper.As another example, the first apparatus 342 and the second apparatus 344 can be with Cooperation forms scissors.As another example, the first apparatus 342 and the second apparatus 344 can cooperation formation Maryland claspers. In the case where not departing from the teaching of the disclosure, in the disclosure except more than and the first apparatus for being described herein and/ Or second outside apparatus it is contemplated that the first apparatus and/or the second apparatus of other forms and type, or contemplate other forms and The first apparatus and/or the second apparatus of type are come the first apparatus and/or the second apparatus that substitute more than and be described herein.

For example, as described above, the first apparatus 342 can be configured to receive the electricity applied from first energy source (not shown) (for example, first electric current) is flowed to perform the action of electrosurgical unit.Additionally or alternatively, the second apparatus 344 can be with It is configured to receive the electric current (for example, second electric current) applied from the second energy source (not shown).In example embodiment, the One electric current can be identical with the second electric current in amplitude, but with the second electric current on the contrary, and in example embodiment party on direction In case, first energy source can be identical or different with the second energy source.Cooperate in the first apparatus and the second apparatus and to form list In such embodiment of pole electrosurgical unit etc., when agglomerate (for example, tissue agglomerate) is provided at the first apparatus 342 and Between two apparatuses 344 and when electric current is applied in the first apparatus 342 or the second apparatus 344, the agglomerate will be used for so that applying Electric current can by and help to cut, solidify, dry and/or the fulguration agglomerate.Similarly, in the first apparatus and the second device Tool cooperates to be formed in the embodiment of bipolar electrosurgical instrument etc., when agglomerate (for example, tissue agglomerate) is provided at first Between the apparatus 344 of apparatus 342 and second and when electric current is applied in the first apparatus 342 and the second apparatus 344, the agglomerate will be used In enable the electric current applied by and help to perform surgery and act, including cut, solidify, drying, burning and/or fulguration The agglomerate.Although the first apparatus and/or the second apparatus can be described as more than and in the disclosure receiving electric current, Understand, in the case where not departing from the teaching of the disclosure, the first apparatus and/or the second apparatus can also be configured to receiving voltage Current potential, heat energy, heat, the application of cold temperature, radiation etc. act to perform the surgery.

(iv) wrist units

In example embodiment, wrist units can fix or be fixed to the first device assembly.Wrist units can wrap Include wrist driven portion (for example, wrist driven portion 346a).Wrist units may further include connector (for example, connector 348)。

Wrist driven portion 346a can be configured to be integrated the wrist drive part 336a drivings of motor 336.Wrist is driven Dynamic part 346a can by wrist drive part 336a by move the first apparatus 342 it is such in a manner of drive.For example, wrist is driven Part 346a can be actuated to move the first apparatus 342 relative to second axis (for example, axis B).In this regard, Such motion of one apparatus 342 can be the distal end of the first apparatus 342 relative to the point in second axis (for example, axis B) Rotation, and such point may be used as the pivot of such motion.Additionally or alternatively, wrist driven portion 346a can by wrist drive part 336a by move the second apparatus 344 it is such in a manner of drive.For example, wrist driven portion 346a can be actuated to move the second apparatus 344 relative to second axis (for example, axis B).In this regard, the second device Such motion of tool 344 can be the distal end of the second apparatus 344 relative to the rotation of the point in second axis (for example, axis B) Turn, and such point may be used as the pivot of such motion.In example embodiment, wrist driven portion 346a can be with By wrist drive part 336a by associated movement the first apparatus 342 and the second apparatus 344 it is such in a manner of drive.For example, wrist quilt Drive part 346a can be actuated to relative to second axis (for example, axis B) associated movement the first apparatus 342 and the second device Tool 344.In this regard, such motion of the first apparatus 342 and the second apparatus 344 can be the remote of the first apparatus 342 End and the distal end of the second apparatus 344 are relative to the rotation of the point in second axis (for example, axis B), and such point can be with Pivot as such motion.

Wrist driven portion 346a can be any mechanism, the equipment for being configured to be driven by wrist drive part 336a Deng.For example, in the case where not departing from the teaching of the disclosure, wrist driven portion 346a can include gear and/or gear train Any one of part or more kind configuration, including spur gear configuration, planetary gear are configured, bevel gear configures, spiral bevel gear is matched somebody with somebody Put, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical arrangements (for example are drawn Line and pulley).Although accompanying drawing illustrates the end effector assemblies with a wrist driven portion, in the disclosure It is appreciated that in the case where not departing from the teaching of the disclosure, end effector assemblies can have more than one wrist to be driven Part.

Arm component (for example, the first arm component 235 and 330, second arm component 233 and 360)

(i) the first arm component (for example, first arm component 235,330)

The example embodiment of first arm component (for example, first arm component 235,330) is illustrated at least Fig. 5 A-M Explanation.Arm component 330 can be fixed to end effector assemblies 340.In example embodiment, arm component 330 can It can unclamp fixed to end effector assemblies 340 and from end effector assemblies 340 (for example, dismounting).Such as Fig. 5 C and 5J institutes Show, arm component 330 can include arm component body (for example, arm component body 330 '), and the arm component body has first end The portion 330a and the second end 330b relative with first end 330a.Arm component coupling part 350 (or toggle section) can be by First end 330a fixed to arm component body 330 '.Wrist connector part 338 may be provided in arm component body 330 ' The second end 330b at.Arm component body 330 ' can accommodate one or more in multiple drive components securely.

In example embodiment, arm component body 330 ' can accommodate the first apparatus drive component securely.First device Tool drive component can include the first integrated motor (for example, first integrated motor 332) and the first apparatus drive part (example Such as, the first apparatus drive part 332a).First apparatus drive part 332a may be provided in the second of arm component body 330 ' At the 330b of end.First apparatus drive part 332a be able to can be controlled with when wrist connector part 338 by the first integrated motor 332 The first apparatus driven portion 342a is driven when being fixed to wrist units 348.First apparatus drive part 332a can be matched somebody with somebody Put to drive the first apparatus driven portion 342a any mechanism, equipment etc..For example, in the feelings for the teaching for not departing from the disclosure Under condition, the first apparatus drive part 332a can include any one of gear and/or gear assembly or more kind configuration, including Spur gear configuration, planetary gear configuration, bevel gear configuration, spiral bevel gear configuration, hypoid gear configuration, helical gear are matched somebody with somebody Put, worm gear configures and/or any other gear and/or mechanical arrangements (such as bracing wire and pulley).Although accompanying drawing illustrates tool There is first apparatus drive part 332a arm component, but in the disclosure it is appreciated that not departing from the teaching of the disclosure In the case of, arm component can have the first more than one apparatus drive part 332a.

In example embodiment, arm component body 330 ' can also accommodate the second apparatus drive component securely.Second Apparatus drive component can include the second integrated motor (for example, second integrated motor 334) and the second apparatus drive part (example Such as, the second apparatus drive part 334a).Second apparatus drive part 334a may be provided in the second of arm component body 330 ' At the 330b of end.Second apparatus drive part 334a be able to can be controlled with when wrist connector part 338 by the second integrated motor 334 The second apparatus driven portion 344a is driven when being fixed to wrist units 348.Second apparatus drive part 334a can be matched somebody with somebody Put to drive the second apparatus driven portion 344a any mechanism, equipment etc..For example, in the feelings for the teaching for not departing from the disclosure Under condition, the second apparatus drive part 334a can include any one of gear and/or gear assembly or more kind configuration, including Spur gear configuration, planetary gear configuration, bevel gear configuration, spiral bevel gear configuration, hypoid gear configuration, helical gear are matched somebody with somebody Put, worm gear configures and/or any other gear and/or mechanical arrangements (such as bracing wire and pulley).Although accompanying drawing illustrates tool There is second apparatus drive part 334a arm component, but in the disclosure it is appreciated that not departing from the teaching of the disclosure In the case of, arm component can have the second more than one apparatus drive part 334a.

In example embodiment, arm component body 330 ' can also accommodate wrist drive component securely.Wrist drive component The 3rd integrated motor (for example, the 3rd integrated motor 336) and wrist drive part can be included (for example, wrist drive part 336a).Wrist drive part 336a may be provided at the second end 330b of arm component body 330 '.Wrist drive part 336a It is able to can be controlled by the 3rd integrated motor 336 to drive wrist to be driven when wrist connector part 338 is fixed to wrist units 348 Part 346a.Wrist drive part 336a can be configured to drive wrist driven portion 346a any mechanism, equipment etc..Example Such as, in the case where not departing from the teaching of the disclosure, wrist drive part 336a can include any of gear and/or gear assembly One or more configuration, including spur gear configuration, planetary gear configuration, bevel gear configuration, spiral bevel gear configuration, quasi- hyperbolic Face gear arrangement, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical arrangements (such as bracing wire and pulley). Although accompanying drawing illustrates the arm component with a wrist drive part 336a, in the disclosure it is appreciated that not departing from In the case of the teaching of the disclosure, arm component can have more than one wrist drive part 336a.

In example embodiment, arm component body 330 ' can also accommodate the first arm component drive component securely.The One arm component drive component can include the 4th integrated motor (for example, the 4th integrated motor 339) and the driving of the first arm component Partly (for example, first arm component drive part 339a).First arm component drive part 339a may be provided in arm component sheet At the first end 330a of body 330 '.First arm component drive part 339a be able to can be controlled to drive by the 4th integrated motor 339 The first arm component body 330 ' is moved to be moved relative to the first arm component coupling part 350.First arm component drive part 339a It can be any machine for being configured to drive the first arm component body 330 ' to move relative to the first arm component coupling part 350 Structure, equipment etc..For example, in the case where not departing from the teaching of the disclosure, the first arm component drive part 339a can include tooth The kind configuration of any one or more of wheel and/or gear assembly, including spur gear configuration, planetary gear configuration, bevel gear configuration, Spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or machinery Configure (such as bracing wire and pulley).Although accompanying drawing illustrates the arm component with a first arm component drive part 339a, But in the disclosure it is appreciated that in the case where not departing from the teaching of the disclosure, arm component can have more than one the One arm component drive part 339a.

Although accompanying drawing illustrate with the first integrated motor 332, second integrate motor the 334, the 3rd integrate motor 336, 4th integrated motor 339, the first apparatus drive part 332a, the second apparatus drive part 334a, wrist drive part 336a and First arm component drive part 339a the first arm component (for example, first arm component 235,330), it is to be appreciated that not taking off In the case of teaching from the disclosure, the first arm component (for example, first arm component 235,330) can include the first integrated motor 332nd, the second integrated motor the 334, the 3rd integrates motor the 336, the 4th and integrates motor 339, the first apparatus drive part 332a, second Apparatus drive part 334a, wrist drive part 336a and/or the first arm component drive part 339a, and/or can also include it He integrates motor (one or more) and/or other drive parts.It is also to be understood that in the situation for the teaching for not departing from the disclosure Under, the first integrated motor 332, second integrates motor the 334, the 3rd and integrates the integrated motor 339 of motor the 336, the 4th, the drive of the first apparatus Dynamic part 332a, the second apparatus drive part 334a, wrist drive part 336a and/or the first arm component drive part 339a can be with The first arm component (for example, first arm component 235,330), the second arm component are partially or entirely placed in (for example, second Arm component 233,360) and/or in any other position.

(ii) the second arm component (for example, second arm component 233,360)

The example embodiment of second arm component (for example, second arm component 233,360) is at least Fig. 5 A-C and Fig. 5 L-O In be illustrated.Second arm component 360 can be fixed to the first arm component 330 an end, and at another end Portion can be fixed to shoulder section 231.When being fixed to shoulder section 231, the second arm component 360 can be configured to relative to shoulder section Section 231 in many ways in one or more of modes move, including but not limited to shaken relative to the pitching of shoulder section 231, partially And/or rolling (roll) (yaw).In example embodiment, the second arm component 360 can be fixed to the first arm component 330 And (for example, dismounting) can be unclamped from the first arm component 330.As shown in Fig. 5 L-N, the second arm component 360 can include the second arm Component body or housing (for example, second arm component body 360 '), the second arm component body or housing have first end The 360a and the second end 360b relative with first end 360a.Arm component coupling part 350 (or toggle section) can be consolidated The fixed the second end 360b to the second arm component body 360 '.Shoulder pitching coupling part 370 may be provided in the second arm component At the first end 360a of body 360 '.In example embodiment, shoulder yaw coupling part 380 may be provided in the second arm At the first end 360a of component body 360 '.Second arm component body 360 ' can accommodate in multiple drive components securely It is one or more.

In example embodiment, the second arm component body 360 ' can accommodate elbow drive component securely.Elbow driving group Part can include the 5th integrated motor (for example, the 5th integrated motor 362) and elbow drive part (for example, elbow drive part 362a).Elbow drive part 362a may be provided at the second end 360b of the second arm component body 360 '.Elbow drive part 362a can drive elbow driven portion 352 by the 5th integrated control of motor 362.Elbow drive part 362a can be matched somebody with somebody Put to drive any mechanism of elbow driven portion 352, equipment etc..For example, in the case where not departing from the teaching of the disclosure, elbow Yaw drive part 362a can include any one of gear and/or gear assembly or more kind configuration, including spur gear is matched somebody with somebody Put, planetary gear is configured, bevel gear configures, spiral bevel gear configures, hypoid gear configures, helical gear configures, worm gear is matched somebody with somebody Put and/or any other gear and/or mechanical arrangements (such as bracing wire and pulley).Driven although accompanying drawing illustrates with an elbow Dynamic part 362a the second arm component, but be appreciated that in the disclosure in the case where not departing from the teaching of the disclosure, second Arm component can have more than one elbow drive part 362a.

In example embodiment, the second arm component body 360 ' can accommodate shoulder pitching drive component securely.Shoulder is bowed Face upward drive component can include the 6th integrated motor (for example, the 6th integrated motor 364) and shoulder pitching drive part (for example, Shoulder pitching drive part 364a).Shoulder pitching drive part 364a may be provided in the first end of the second arm component body 360 ' At portion 360a.Shoulder pitching drive part 364a can drive shoulder pitching driven portion by the 6th integrated control of motor 364 364b.Shoulder pitching drive part 364a can be any mechanism, the equipment for being configured to drive elbow pitching driven portion 364b Deng.For example, in the case where not departing from the teaching of the disclosure, shoulder pitching drive part 364a can include gear and/or gear Any one of component or more kind configuration, including spur gear configuration, planetary gear configuration, bevel gear configuration, spiral bevel gear Configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or mechanical arrangements (such as Bracing wire and pulley).Although accompanying drawing illustrates the second arm component with a shoulder pitching drive part 364a, in this public affairs Open it is appreciated that in the case where not departing from the teaching of the disclosure, the second arm component there can be more than one shoulder pitching to drive Dynamic part 364a.

In example embodiment, the second arm component body 360 ' can accommodate shoulder yaw drive component securely.Shoulder is horizontal Put drive component can include the 7th integrated motor (for example, the 7th integrated motor 366) and shoulder yaw drive part (for example, Shoulder yaw drive part 366a).Shoulder yaw drive part 366a may be provided in the first end of the second arm component body 360 ' At portion 360a.Shoulder yaw drive part 366a can drive the first shoulder yaw to be driven by the 7th integrated control of motor 366 (it drives the second shoulder yaw driven portion 366c (if desired) and the 3rd shoulder yaw driven part to part 366b successively Divide 366d).Shoulder yaw drive part 366a can be any machine for being configured to drive the first shoulder yaw driven portion 366b Structure, equipment etc..In addition, the first shoulder yaw driven portion 366b can be configured to drive the second shoulder yaw driven portion 366c any mechanism, equipment etc..In addition, the second shoulder yaw driven portion 366c can be configured to drive the 3rd shoulder horizontal Put driven portion 366d any mechanism, equipment etc..For example, in the case where not departing from the teaching of the disclosure, shoulder yaw drives Dynamic part 366a, the first shoulder yaw driven portion 366b, the second shoulder yaw driven portion 366c and the 3rd shoulder yaw quilt One or more any one of gear and/or gear assembly or more kinds that can include in drive part 366d configure, Including spur gear configuration, planetary gear configuration, bevel gear configuration, spiral bevel gear configuration, hypoid gear configuration, helical gear Configuration, worm gear configuration and/or any other gear and/or mechanical arrangements (such as bracing wire and pulley).Although accompanying drawing illustrates Driven with a shoulder yaw drive part 366a, a first shoulder yaw driven portion 366b, a second shoulder yaw Part 366c and a 3rd shoulder yaw driven portion 366d the second arm component, but be appreciated that in the disclosure In the case of the teaching for not departing from the disclosure, the second arm component can have more than one shoulder yaw drive part 366a, more The first shoulder yaw driven portion 366b in one, the second more than one shoulder yaw driven portion 366c and/or it is more than The 3rd shoulder yaw driven portion 366d of one.In addition, the feelings in the teaching for not departing from the disclosure are appreciated that in the disclosure Under condition, the second arm component can have or can not have the second shoulder yaw driven portion 366c, and/or can have or Person can not have one or more between shoulder yaw drive part 366a and the 3rd shoulder yaw driven portion 366d Shoulder yaw driven portion among additional or other.

Although accompanying drawing illustrate with the 5th integrated motor the 362, the 6th integrate motor the 364, the 7th integrate motor 366, Elbow drive part 362a, shoulder pitching drive part 364a and shoulder yaw drive part 366a the second arm component are (for example, second Arm component 233,360), it is to be appreciated that in the case where not departing from the teaching of the disclosure, the second arm component is (for example, the second arm Component 233, the integrated motor 366 of motor the 364, the 7th, elbow drive division 360) can be integrated including the 5th integrated motor the 362, the 6th Divide 362a, shoulder pitching drive part 364a and/or shoulder yaw drive part 366a, and/or other integrated electricity can also be included Machine (one or more) and/or other drive parts.It is also to be understood that in the case where not departing from the teaching of the disclosure, the Five integrated motors the 362, the 6th integrate motor the 364, the 7th and integrate motor 366, elbow drive part 362a, elbow yaw drive part 362a, shoulder pitching drive part 364a and shoulder yaw drive part 366a can be partially or entirely placed in the first arm Component (for example, first arm component 235,330), the second arm component (for example, second arm component 233,360) and/or any other Position in.

Each apparatus arm component can be fixed to the grappling of port assembly 210 via the fixed part 231a of shoulder section 231 Device port 216 (and being unclamped from the anchor port 216 of port assembly 210).Recognize in the disclosure, apparatus arm component 230th, 240 the position of the anchor port 216 of port assembly 210, direction forward can be fixed to (for example, such as Fig. 2 B and figure Shown in 3B) and/or position in opposite direction (for example, as shown in Fig. 2A and Fig. 3 A) on.In addition, in example embodiment, device Tool arm component 230,240 can or can not change between the opposite position of the position and direction of direction forward.In apparatus In the example embodiment that arm component 230,240 can change between the opposite position of the position and direction of direction forward, so Transformation can by shoulder section 231 be fixed to port assembly 210 anchor port 216 before, during and/or after hold OK.For example, in such embodiments, fixed part 231a can adjustably be changed relative to the position of shoulder section 231 Become, such as the position of the direction shown in Fig. 5 A forward is changed into the position in opposite direction shown in Fig. 5 B, and vice versa.

One or more internal temperature control component (not shown) can be directed to one or more apparatus arm group Each offer in part 230,240.It is mentioned above that each internal temperature control component can be operable to control (such as reducing) Gear and/or gear assembly, motor, apparatus coupling part (such as 232,370,380,234,236, the connection part along axis A Point and/or the coupling part along axis B) and/or apparatus arm section (such as 231,233,360,235,330 and/or 237) temperature And/or heating.One or more internal temperature control component can also be operable to control (being such as raised and lowered) end (when end effector 239,342,344 is cutting tool etc., this is probably it is expected to the temperature of portion's actuator 239,342,344 ).In example embodiment, one or more internal temperature control component can be operable to using a kind of or more Multiple gases, liquid and/or temperature control as solid execution.For example, the gas and/or liquid can use external source It is fed, maintains and/or adjusts via one or more pipe etc..In example embodiment, for providing, adjust and/or One an or more pipe for discharge gas and/or liquid can have about 0.5mm to the diameter between 3mm, but this The diameter of the pipe of sample can also be greater or lesser.In the disclosure it is appreciated that institute can be provided by the inside of apparatus arm component One or more pipes (if use) and any solid (if use) are stated, the size without increasing apparatus arm component (such as diameter).

When internal temperature control component is using gas etc., example embodiment can also be operable to via one or more Multiple pipes etc. provide such gas in body cavity and/or in gas as the outside drain of body cavity or recycling. In example embodiment, the gas can include carbon dioxide, oxygen and/or other gases.Such gas can enter one Step is operable to help such as to provide and/or maintain via opening (not shown) the gas injection of body cavity.When internal temperature control component During using liquid etc., example embodiment can be operable in liquid as the outside drain of body cavity or recycling.When When internal temperature control component is using solid-state etc., such solid can possess following properties, i.e. enable surgical team all Such as change the temperature of solid by applying the energy of electric energy or other forms, to control and (such as reduce) apparatus arm component 230th, the temperature of 240 one or more parts and/or heating.

In example embodiment, in the case where not departing from the teaching of the disclosure, internal temperature control component can profit With the combination of gas, liquid, solid etc..

Have been inserted into and attach (or fixed) in apparatus arm component 230,240 to arrive after port assembly 210, end performs Device 239,342,344 manually and/or via computing device (or system) can be configured to when the action of execution surgery and operation Apply about 0 to the power between 20N via integrated motor 332,334 when (such as cutting and/or grasp motion).In addition, end Actuator 239,342,344 manually and/or via computing device/controller can be configured to when execution other surgeries action Apply about 0 via integrated motor 332,334,336,338 with when operation (such as translation, torsion, pulling and/or pushing action) To the power between 10N.In the disclosure it is appreciated that the scope of the power applied of the above is only the illustration of example embodiment Illustrate, in this regard, in the case where not departing from the teaching of the disclosure, the scope of the power applied can be less than or greater than Those scopes recorded above.

In example embodiment, including the first apparatus arm section 231, the apparatus arm section of the second apparatus arm section the 233,360, the 3rd 235th, 330 and/or the 4th the apparatus arm section of apparatus arm section 237 can be generally cylindrical shape.The religion of the disclosure is not being departed from In the case of leading, including the first apparatus arm section 231, the apparatus arm section 235,330 of the second apparatus arm section the 233,360, the 3rd and/or The apparatus arm section of four apparatus arm sections 237 can also be formed as any one in various other shapes, size and/or size.

As described above, apparatus arm component 230,240 can also include one or more fixed part 231a.Fixed part 231a can be attachable to or be attached to the first apparatus arm section 231, a part for the first apparatus arm section 231, and/or with One apparatus arm section 231 forms single object together.Such fixed part 231a can be used for apparatus arm component 230,240 Fixed to anchor port 216.In example embodiment, such fixed part 231a can be used for performing or help to hold It is about to apparatus arm component 230,240 to be inserted into and fixed to the processing in port assembly 210.

Port assembly 210 is inserted through in apparatus arm component 230 to enter in the cavity (such as vagina or rectum) of patient Afterwards, the fixed part 231a of the first apparatus arm section (or shoulder section) 231 can be by the anchor port 216 of port assembly 210 Accommodate securely.

In example embodiment, fixed part 231a length can be about 350 between 450mm, the first apparatus The length of arm section 231 can about 15 between 40mm, the length of the second apparatus arm section 233,360 can about 80 to Between 105mm, the length of the 3rd apparatus arm section 235,330 can be about 65 between 90mm, the length of the 4th apparatus arm section 237 Degree can be about 5 between 30mm, and the total length of united apparatus arm can be about 165 between 265mm.It is real in example Apply in scheme, fixed part 231a length can be about 340 between 400mm, and the length of the first apparatus arm section 231 can be with About 15 between 25mm, the length of the second apparatus arm section 233,360 can be about 90 between 100mm, the 3rd apparatus The length of arm section 235,330 can about 75 between 85mm, the length of the 4th apparatus arm section 237 can about 15 to Between 25mm, the total length of united apparatus arm can be about 195 between 235mm.In example embodiment, apparatus arm One or more length in section, fixed part 231a and/or end effector 239,342,344 can also by one or More are inserted into positioned at the computing device (or system) of neighbouring and/or distant place surgical team 904 by apparatus arm component Adjusted before, during and/or after in the cavity of patient.One or more external diameters in apparatus arm section may be about 10 to 16mm.In example embodiment, one or more external diameters in apparatus arm section may be about 16mm.

Including fixed part 231a, the first apparatus arm section 231, the apparatus arm section 235 of the second apparatus arm section the 233,360, the 3rd, 330th, the 4th apparatus arm section 237, the coupling part 232 of end effector 239,342,344, first, shoulder yaw coupling part 380, The coupling part 236 of shoulder pitching coupling part 370, second (or elbow) coupling part the 234,350, the 3rd (or the connection along axis B Part) and/or apparatus connection part 238 (or coupling part along axis A) in each can use multiple material in appoint What is one or more of to form, such as Surgical Grade metal, high-strength aluminum alloy, stainless steel (such as 304/304L, 316/316L and 420), pure titanium, titanium alloy (such as Ti6A14V, NiTi) and cochrome.In the disclosure it is appreciated that not departing from this public affairs In the case of the teaching opened, other materials can also be used.

Sub-arm assembly (for example, sub-arm assembly 250,260)

In example embodiment, surgical device 200 can include one or more sub-arm assemblies (for example, auxiliary Arm component 250 or 260), these sub-arm assemblies can be configured to be inserted into and be attached to port assembly 210.As Fig. 2A, Shown in Fig. 2 B, Fig. 3 A and Fig. 3 B, one or more in sub-arm assembly can be suction/irrigation component 250, or such as The assistive device arm component of retractor arm component 260, each of which can respectively include can more bend bodies 252 or 262, and And respectively include anchor portion (for example, similar to can more bend bodies 222 and image capture assemblies 220 anchor portion 220a)。

As shown in Fig. 2A, Fig. 2 B, Fig. 3 A and Fig. 3 B, suction/irrigation component 250 can be included with suction ports 259 End, suction ports 259 are used to apply suction or the negative pressure that can be used for removing liquid (for example, blood etc.) from the cavity of patient Power.On assistive device arm component 260, assistive device arm component 260 can include that there is apparatus 269 (such as clasper, to retract Device, cutter, pin etc.) end, apparatus 269 can be used for helping one or more apparatus arm component 230 and/or 240 perform surgery action.

Fig. 2A, Fig. 2 B, Fig. 3 A and Fig. 3 B example embodiment as shown in, sub-arm assembly 250 and/or 260 can be with Include being attached to their end (respectively, suction ports or apparatus) respectively can more bend bodies 252 and/or 262.Can be more Bend body 252 or 262 can be with the image capture assemblies 220 that describe more than and in the disclosure can more bend bodies It is similar it is any it is elongated can more bend bodies, it can be by surgical team 904 (such as via computing device/controller/manipulation Device/primary input equipment) control/configuration in addition to other aspects, along can more bend bodies 252 or 262 multiple positions One or more opening positions put stretch and/or bent (and stretch and/or bend as keeping), in multiple bendings (and bent portion as keeping) is bent in one or more bent portions in part, and/or in multiple directions One or more directions on stretch and/or bend (and keep as stretch and/or bend).Can be more it is appreciated that working as Bend body 252 or 262 be configured as along can any opening positions of more bend bodies 252 or 262 bend when, curve can be with By surgical team 904 (such as via computing device/controller/executor/primary input equipment) keep and/or decontrol (or by Be configured to not bend, less bending or stretch).

Can more bend bodies 252 or 262 can be formed in a manner of any one as known in the art or more kind.Example Such as, can more bend bodies 252 or 262 can be the single or substantially unitary slender body for having multiple lines, cable etc., The multiple line, cable etc. are entirely can distribution/extension in this way in more bend bodies 252 or 262, i.e. such One in line, cable etc. or pulling/release of combinations thereof, shortening/extension, tension/release etc. make it possible at one Or more in bent portion and realize in one or more directions can be one of more bend bodies 252 or 262 or more The above-mentioned bending of multiple positions.As another example, can more bend bodies 252 or 262 can include multiple sections, each Section chain in a manner of this section can be controlled/be configured to and be pivotally positioned at such on multiple positions relative to adjacent segment It is connected to adjacent section.As another example, can more bend bodies 252 or 262 can include being used in one or more bendings Realize in part and in one or more directions can more bend bodies 252 or 262 one or more positions with On the multiple springs of bending, gear, the motor etc. that refer to.In the disclosure it is appreciated that can more bend bodies 252 or 262 may be used also With including one or more combinations in above-mentioned method.

Sub-arm assembly 250 or 260 can be fixed to port assembly 210 by the one or more in many ways, Those for being included in the above and being described in the disclosure for apparatus arm component 230,240 and/or image capture assemblies 220. For example, sub-arm assembly 250 or 260 can also include anchor portion respectively (for example, the anchor similar to image capture assemblies 220 Determine the fixed part 231a of part 220 and/or apparatus arm component 220), the anchor portion is operable to sub-arm assembly 250 Or 260 attached (or fixed) arrives one or more anchor ports 216 of port assembly 210.

In example embodiment, can more bend bodies 252 or 262 each may each be generally cylindrical shape.Not Depart from the disclosure teaching in the case of, can more bend bodies 252 or 262 can also be formed as various other shapes, size and/ Or any one in size.

In example embodiment, can the length of more bend bodies 252 or 262 can be about 170 between 270mm. In example embodiment, can more bend bodies 252 or 262 length can also by surgical team 904 will image head arm group Part adjusts before, during and/or after being inserted into the cavity of patient.Can the external diameters of more bend bodies 252 or 262 can be big About 5 between 7mm.In the disclosure it is appreciated that dimensions above is only illustrating for example embodiment, with regard to this point By in the case where not departing from the teaching of the disclosure, these sizes can be less than or greater than those sizes recorded above.

Controller

In example embodiment, surgery system can include controller (or computing device, executor and/or primary input Equipment).Controller can be configured to perform one in multiple operations in surgery system 200 and on surgery system 200 Individual or more.For example, controller can be configured to and one or more elements of surgery system 200 (such as outside anchor Determine device 1 or 1000, port assembly 210, apparatus arm component 230 or 240, image capture assemblies 220, and/or sub-arm assembly 250 Or 260) communicated and/or controlled these elements.Controller can be accessed and/or controlled by surgical team 904, surgical team Configuration and/or the behaviour of these elements can be communicated and/or controlled with one or more elements of surgery system 200 Make.For example, controller can be configured to control device arm component 230 or 240, the first gate assembly 212b, the second gate assembly The motion and action of some or all of 214b parts, the motion of some or all parts of image capture assemblies 220 and dynamic Make (including picture catching, temperature control etc.), image capture assemblies 220 can more bend bodies 222 some or all parts Motion and action, sub-arm assembly can the motion of some or all parts of more bend bodies 252 or 262 and action, auxiliary Help some or all parts of arm component 250 or 260 motion and action, etc..

The method (for example, method 700) surgical device 200 being arranged on the position of direction forward

As shown in Fig. 7 and Fig. 8 A-8E, the example embodiment of surgical device 200 can be configured in many ways it One performs the surgery action or operation of direction forward.In example embodiment, external anchor 1 can be provided and be pacified Fill/anchor to stationary objects.Port assembly 210 can be provided (for example, action 702), and apparatus arm component can be carried For (for example, action 704).Second apparatus arm component can be provided, and the required He of image capture assemblies 220 and/or 320 Any one in sub-arm assembly 250 and/or 260.Port assembly 210 can be inserted into (for example, action 706) and arrive patient's Be open in (and cavity), and be anchored using external anchor 1 (for example, action 708) in place, and in cavity can Working volume/space can be such as via using CO₂And/or other gases, vacuum suction instrument and/or the hook instrument that can bounce back enter Row gas injection and formed.In example embodiment, controllable gyro black assembly 1000 can also be used.For example, it can be provided for patient Highly it is about the 10-12 abdominal cavity that works.Thereafter, passage 210a can be entered via center by one or more picture catchings Component 220, one or more sub-arm assemblies (for example, action 710) and/or one or more sub-arm assemblies 250 or 260 are inserted into port assembly 210 (if desired), fixed to anchor port 216, and configure the cavity in patient In.Then surgery action can be performed in any part of the cavity of patient, region and/or quadrant using surgical device 200 Or operation.These processing will be described below in reference at least Fig. 7, Fig. 8 A-8E, Fig. 9 B and Figure 10 B now.

(1) external anchor is provided and port assembly is installed

In example embodiment, as shown in FIG. 1A and 1B, external anchor 1 can be provided and be mounted/anchor Surely one or more stationary objects, the siding track 300 of such as surgery table/bed are arrived.External anchor 1 it is one or more Section 2,6,10 and 14 can use the cooperation of one or more connection parts 4,8,12 and 16 of external anchor 1 with by port assembly 210 position (including orientation) is fixed in the opening of patient or surrounding.

In example embodiment, as shown in figs. 10 a and 10b, external anchor 1 can include being operable to offer one The controllable gyro black assembly 1000 of individual or more the additional external free degree, such as via the first rotating part 1002, second times The rotating part 1006 of transfer part point 1004 and/or the 3rd.Controllable gyro black assembly 1000 may further include for the first rotating part Divide 1002 motor 1002a, the motor 1004a for the second rotating part 1004, the motor for the 3rd rotating part 1006 1006a, one or more support arms 1008 and one or more locks 1010.

First rotating part 1002 can be operable to provide as one of the external free degree, as shown by arrow A, end The translational motion for the axle that mouth component 210 limits along the elongate length by port assembly 210.In example embodiment, by The translational motion as shown by arrow A that single-revolution part 1002 provides can be about 0 between 50mm.

Controllable gyro black assembly 1000 may further include the second rotating part 1004, and it is operable to provide as external In the free degree another, the torsion or rotary motion of axle that port assembly 210 is described around axle Y.In example embodiment party In case, the torsion as shown by arrow A or rotary motion that are provided by the second rotating part 1004 can about +/- 180 degree it Between.

Controllable gyro black assembly 1000 can also include the 3rd rotating part 1006, and it is operable to provide as external free In degree another, port assembly 210 surround axle (axle (it leaves the page) that such as axle Z is described) perpendicular to Y-axis Pivot or rotary motion.In example embodiment, Z axis or pivot can be located at around the opening of patient, such as in abdomen At the intermediate point of wall.The pivot as shown by arrow A provided in example embodiment by the 3rd rotating part 1006 or rotation Motion can be about +/- between 80 degree.

Recognize in the disclosure, in example embodiment, controllable gyro black assembly 1000 can include the first rotating part Divide the 1002, second rotating part 1004 and/or the 3rd rotating part 1006.When expectation and/or need except can be turned round by first More than three bodies outside those frees degree that part 1002, the second rotating part 1004 and the 3rd rotating part 1006 provide When the outer free degree and/or motion/rotation, controllable gyro black assembly 1000 may further include other rotating part (not shown).

Include the controllable revolution of the first rotating part 1002, the second rotating part 1004 and/or the 3rd rotating part 1006 Component 1000 be able to can controlled locally or remotely by surgical team.

In example embodiment, port assembly 210 can be mounted and be fixed to external anchor 1 or 1000. As shown in Fig. 8 A-8E, the second end 214 of port assembly 210 can be inserted into the chamber that patient is entered in the opening of patient In body, and the first end 212 of port assembly 210 can be fixed to external anchor 1 or 1000.Thereafter, can suffer from Formed in the cavity of person in cavity can working volume/space, such as via using CO₂And/or other gases, vacuum suction work Tool and/or the hook instrument that can bounce back carry out gas injection.By doing so it is possible, the first gate assembly 212b and the second gate assembly 214b can deploy To closed position.The gas injection of cavity can in many ways in one or more of realizations.For example, the note of port assembly 210 Gas port can be used to required gas injection.

(2) insert and attach image capture assemblies

In cavity can working volume/space be formed and port assembly 210 is fixed to after position, such as scheme Shown in 8A, image capture assemblies 220 can be inserted through center and enter passage 210a, and be fixed to port assembly 210 Anchor port 216.In order to keep so doing while working volume/space, the first gate assembly 212b can be the Two gate assembly 214b are configured to open position while being configured to closed position.Once the first gate assembly 212b is in open position Put, image capture assemblies 220 can be inserted into interstitial segment 213.First gate assembly 212b then can be in image Component 220 is caught by being configured to closed position after the first gate assembly 212b.Second gate assembly 214b then can by with Put to open position.Recognize in the disclosure, in cavity can working volume/space be configured since the first gate assembly 212b It is maintained after to closed position via gas injection.Once the second gate assembly 214b is on open position, image capture assemblies 220 It can be inserted into the cavity of patient, and anchor portion 220a is fixed to anchor port 216.Second gate assembly Then 214b can be configured to closed position after image capture assemblies 220 are by the second gate assembly 214b.Picture catching Component 220 can more bend bodies 222 then can be configured/control for along can more bend bodies 222 it is one or more Bent on individual position, to cause image capture assemblies 220 can be with the position of direction forward (as seen in figs. 2 b and 3b).

Single image capture assemblies 320 can also be inserted through port assembly 210 in a similar way as described above.One Denier is inserted through port assembly 210 and entered in the cavity of patient, and single image capture assemblies 320 then can be via magnetic Property anchor 310 is attached/is fixed to the inwall of the cavity of patient.

(3) insert and attach the first apparatus arm component

Apparatus arm component 230 can be inserted through center and enter passage 210a, and be fixed to port assembly 210 Anchor port 216.In order to maintain so do while working volume/space, the first gate assembly 212b can exist again Second gate assembly 214b is configured to open position while being configured to closed position.As shown in Figure 8 B, once the first lock group On open position, apparatus arm component 230 can be inserted into interstitial segment 213 part 212b.As shown in Figure 8 C, the first lock Component 212b then can after apparatus arm component 230 is entered in interstitial segment 213 by the first gate assembly 212b by with Put to closed position.As in fig. 8d, then the second gate assembly 214b can be configured to open position.As illustrated in fig. 8e, one On open position, apparatus arm component 230 can be inserted into the cavity of patient the second gate assembly of denier 214b, and fixed Part 231a is fixed to anchor port 216.Then second gate assembly 214b can pass through the second lock in apparatus arm component 230 Closed position is configured to after component 214b.

(5) insert and attach one or more additional apparatus arm components, one or more sub-arm assemblies and/ Or one or more additional shooting head arm assemblies

One or more additional apparatus arm components 240, one or more sub-arm assemblies 250 or 260 and/or one Individual or more additional image capture assemblies (not shown) can also by with above in relation to image capture assemblies 220 and apparatus The mode identical mode that arm component 230 describes is inserted into port assembly 210 via center into passage 210a.

(6) dismantle and remove apparatus arm component, image capture assemblies and sub-arm assembly

Apparatus arm component 230, image capture assemblies 220, other apparatus arm component 240 (if provided that), other figures As catch component (if provided that) and one or more other sub-arm assemblies 250 or 260 (provided that Words) can by by with above in relation to insertion and attached description in a manner of essentially the inverse mode via in port assembly 210 Centre enters passage 210a and dismantles (or release) from anchor port 216 and removed from the cavity of patient.

The method (for example, method 700) surgical device 200 being arranged on position in opposite direction

As shown in Fig. 7 and Fig. 8 F-8K, the example embodiment of surgical device 200 can be configured in many ways it One performs surgery action or operation in opposite direction.In example embodiment, external anchor 1 can be provided and by with Mode similar mode with describing more than and in the disclosure installs/anchor to stationary objects.Port assembly 210 can be by There is provided (for example, action 702), and apparatus arm component can be provided (for example, action 704).Second apparatus arm component can be with It is provided, and any one in required image capture assemblies 220 and/or 320 and sub-arm assembly 250 and/or 260. Port assembly 210 can be inserted into (for example, action 706) into the opening (and cavity) of patient, and use outside grappling Device 1 and be anchored (for example, action 708) in place, and in cavity can working volume/space can be such as via using CO₂ And/or other gases, vacuum suction instrument and/or the hook instrument that can bounce back carry out gas injection and formed.In example embodiment, Controllable gyro black assembly 1000 can be used.For example, the abdominal cavity that works that height is about 10-12 can be provided for patient.Thereafter, may be used To enter passage 210a by one or more image capture assemblies 220, one or more sub-arm assembly (examples via center Such as, action is 710) and one or more sub-arm assemblies 250 or 260 are inserted into port assembly 210 (if desired) In, fixed to anchor port 216, and configure in the cavity of patient.In order to insert, image capture assemblies 220, apparatus arm Being each inserted into and more than and in the disclosure in component 230 and/or 240 and sub-arm assembly 250 and/or 260 Described in direction position forward compared in opposite orientation.Then surgical device 200 can be used in the cavity of patient Surgery action or operation are performed in any part, region and/or quadrant.Now will be below in reference at least Fig. 7, Fig. 8 F-8K, figure 9B and Figure 10 B describe these processing.

(1) external anchor is provided and port assembly is installed

In example embodiment, port assembly 210 can be mounted and be fixed to external anchor 1 or 1000. As shown in Fig. 8 A-8E, the second end 214 of port assembly 210, which is inserted into the opening of patient, to be entered in the cavity of patient, And the first end 212 of port assembly 210 is fixed to external anchor 1 or 1000.Thereafter, can be in the cavity of patient Formed in cavity can working volume/space, such as via using CO₂And/or other gases, vacuum suction instrument and/or can The hook instrument that bounces back carries out gas injection.By doing so it is possible, the first gate assembly 212b and the second gate assembly 214b can be deployed into close stance Put.The gas injection of cavity can in many ways in one or more of realizations.For example, the gas injection port of port assembly 210 can To be used to required gas injection.

(2) insert and attach image capture assemblies

In cavity can working volume/space be formed and port assembly 210 is fixed to after position, such as scheme Shown in 8F, image capture assemblies 220 can be inserted into, and wherein picture catching body 224 is finally inserted through central into logical Road 210a and the anchor port 216 for being fixed to port assembly 210.In order to maintain can working volume/space while So do, the first gate assembly 212b can be configured to open position while the second gate assembly 214b is configured to closed position Put.On open position, once image capture assemblies 220 can be inserted into interstitial segment 213 the first gate assembly 212b. Then first gate assembly 212b can be configured to close stance after image capture assemblies 220 are by the first gate assembly 212b Put.Then second gate assembly 214b can be configured to open position.Recognize in the disclosure, in cavity can working body Product/space is maintained after the first gate assembly 212b is configured to closed position via gas injection.Once the second gate assembly 214b is on open position, and the can of image capture assemblies 220 is fully inserted into the cavity of patient, now picture catching sheet Body 224 is near anchor port 216.Image capture assemblies 220 more bend bodies 222 and then can be configured/control For along can be bent on one or more positions of more bend bodies 222, to allow the direction of image capture assemblies 220 By the position in opposite direction of the outer surface of port assembly 210 (as shown in Fig. 2A and Fig. 3 A).Image capture assemblies 220 are then It can be provided adjacent to the outer surface of port assembly 210, to cause the anchor portion 220a of image capture assemblies 220 adjacent to anchored end Mouth 216.Then the anchor portion 220a of image capture assemblies 220 can be fixed to anchor port 216.Second gate assembly 214b can be configured to closed position after image capture assemblies 220 are by the second gate assembly 214b.

(3) insert and attach the first apparatus arm component

In order to maintain can working volume/space while by apparatus arm component 230 be inserted through center enter passage 210a and the anchor port 216 for securing it to port assembly 210, the first gate assembly 212b can be again in the second lock groups Part 214b is configured to open position while being configured to closed position.As shown in fig. 8g, once the first gate assembly 212b exists On open position, the can of apparatus arm component 230 is inserted into, during its end effector 239,342,344 is finally inserted into Between in section 213.As illustrated in figure 8h, then the first gate assembly 212b can pass through the first gate assembly at apparatus arm component 230 212b is configured to closed position after entering in interstitial segment 213.As shown in fig. 81, the second gate assembly 214b and then can be with It is configured to open position.As illustrated by figure 8j, once the second gate assembly 214b is on open position, apparatus arm component 230 can To be fully inserted into the cavity of patient, now end effector 239,342,344 is near anchor port 216.Apparatus Then arm component 230 can be rotated 180 degree (if desired) and/or be moved, make it that apparatus arm component 230 can be with By the outer surface of port assembly 210.Then apparatus arm component 230 can be pulled to the outer surface of neighbouring port assembly 210, with So that the fixed part 231a of the shoulder section 231 of apparatus arm component 230 is adjacent to anchor port 216.As shown in figure 8k, apparatus arm Then the fixed part 231a of component 230 can be fixed to anchor port 216.Second gate assembly 214b can be in apparatus arm At least end effector 230 of component 230 is configured to closed position by any time after the second gate assembly 214b.

One or more additional apparatus arm components 240, one or more sub-arm assemblies 250 or 260 and/or one Individual or more additional image capture assemblies (not shown) can also by with above in relation to image capture assemblies 220 and apparatus The mode identical mode that arm component 230 describes enters passage 210a with side in opposite direction via the center of port assembly 210 Formula is inserted and installed.

Apparatus arm component 230, image capture assemblies 220, other apparatus arm component 240 (if provided that), other figures As catch component (if provided that) and one or more other sub-arm assemblies 250 or 260 (provided that Words) can by by with above in relation to insertion and attached description in a manner of essentially the inverse mode, passed through in a manner of in opposite direction (or release) is dismantled into passage 210a from anchor port 216 by the center of port assembly 210 and is moved from the cavity of patient Remove.

Although the various embodiments according to disclosed principle are described above, it should be appreciated that they are only It is presented by exemplary mode, and it is nonrestrictive.Therefore, the width of the example embodiment described in the disclosure and Scope should not be limited by any illustrative embodiments described above, but should be wanted according only to from the right of disclosure mandate Ask and its equivalents limit.In addition, above advantages and features are provided in described embodiment, but should not limit The claim so authorized is applied to processing and the structure for realizing any of the above or all advantages.

For example, " component ", " device ", " part ", " section ", " component ", " body " or other similar words usually should be by It is broadly interpreted as encompassing a part or more than one part that is attached or linking together.

Various terms used herein have specific meanings in the art.Whether concrete term should be considered as It is that such " technical term " depends on the context that the term is used for." connection ", " connection ", " attached ", " attached ", " grappling ", " grappling ", " with ... connection ", " connection ... ", " with ... is associated ", " with ... is associated " or Other similar terms of person should be usually broadly considered including such situation, wherein attached, connection and grappling It is direct between the element of reference, or between the element of reference is by one or more intermediates.These It will be explained with other terms according to the context being used in the disclosure, and be to be interpreted as ordinary skill people Member is under disclosed context it will be understood that these terms.Restriction above is not precluded from can be with based on disclosed context It is endowed other implications of those terms.

As mentioned in the disclosure, computing device, processor and/or system can be virtual machine, computer, section Machine in point, example, main frame and/or networking or non-networked computing environment.Networked computing environment can pass through convenient means Between the collection for communicating and allowing the device that the communication channel of device shared resource connects.For another example mentioned in the disclosure, Computing device can be the dress for being deployed to perform the program as socket listener (socket listener) operation Put, and software instances can be included.

Resource can include any kind of resource for running example, including hardware (for example, server, client, Mainframe computer, network, network memory, data source, memory, central processing unit time, scientific instrument and other meters Calculate equipment) and software, software license, available network services and other non-hardware resources or its combination.

Networked computing environment can include, but not limited to computing grid system (computing grid system), divide Cloth computing environment, cloud computing environment etc..Such networked computing environment includes hardware and software architecture, the hardware and soft Part architecture is configured to form the Virtual Organization for including multiple resources, and the plurality of resource can geographically be dispersed in more On individual position.

In addition, the coverage of the application and any patent from the application mandate extends to one or more lead to Believe agreement, including TCP/IP.

Compare, measure and the vocabulary of selection of time (timing), for example, " now ", " equivalents ", " in ... period ", " complete " etc., it is appreciated that and means " substantially now ", " substantially equivalents ", " substantially existing ... period ", " base It is complete in sheet " etc., wherein " substantially " it is meant that for the expected result that either implicitly or explicitly illustrates of realization, such ratio Compared with, measurement and selection of time be practicable.

In addition, this paper paragraph heading be provided to it is consistent with 37 CFR 1.77 suggestion, or for provide herein Organizational cues.These titles should not limit or characterize one illustrated in any claim that can be announced from the disclosure Or more invention.Specifically and as an example, although title refers to " technical field ", but claims should not be marked by this The lower selected language of topic is limited to describe so-called technical field.Further, the description of the technology in " background technology " is not It is read as recognizing the prior art that the technology is any one in the disclosure or more invention." content of the invention " not yet Be to be considered as one or more inventions illustrated in claims of announcement feature description.In addition, the public affairs Any reference of " invention " in opening to odd number should not be used to prove only have a novel point in the present disclosure.According to from the public affairs The restriction of multiple claims of announcement is opened, multiple inventions can be illustrated, and these claims are correspondingly defined by it One or more inventions of protection, and their equivalents.In all examples, the scope of these claims answers root Understand according to the disclosure according to these claims essence in itself, without should be limited by this paper title.

Claims

1. one kind is used to perform the surgery system through natural cavity ESS (NOTES), the surgery system includes：

End effector assemblies, the end effector assemblies have：

First device assembly, first device assembly have：

First apparatus, first apparatus are used to perform surgery action；And

First apparatus driven portion, the first apparatus driven portion are configured to by with relative to first axle motion institute The such mode for stating the first apparatus drives；And

The wrist units of first device assembly can be fixed to, the wrist units, which has, to be configured to by with relative to second axis The wrist driven portion that such mode of first apparatus drives is moved, the second axis is different from the first axle Line；

The first arm component of the end effector assemblies can be fixed to, first arm component has：

First arm component body, the first arm component body have first end and relative with the first end second End；

For first arm component to be connected to the first arm component coupling part of the second arm component, the first arm component connection Socket part point is fixed to the first end of the first arm component body；

The wrist connector part provided at the second end of the first arm component body, the wrist connector part can Configure to be fixed to wrist units；

The first apparatus drive component being accommodated firmly in the first arm component body, the first apparatus drive component is extremely There is the first integrated motor and the first apparatus drive part less, wherein the first apparatus drive part can be integrated by described first Motor control drives the first apparatus driven portion when the wrist connector part is fixed to the wrist units；

The wrist drive component being accommodated firmly in the first arm component body, the wrist drive component at least have the second collection Into motor and wrist drive part, wherein the wrist drive part can work as the wrist connector by the described second integrated motor control Part drives the wrist driven portion when being fixed to the wrist units；And

The first arm component drive component being accommodated firmly in the first arm component body, the first arm component driving group Part at least has the 3rd integrated motor and the first arm component drive part, wherein the first arm component drive part can be by described 3rd integrates motor control to drive the first arm component body to be moved relative to second arm component；And

Second arm component.

2. surgery system as claimed in claim 1,

Wherein described end effector assemblies further comprise the second device assembly, and second device assembly has：

Second apparatus, second apparatus are used to perform surgery action；And

Second apparatus driven portion, the second apparatus driven portion are configured to by with relative to first axle fortune The such mode for moving second apparatus drives；And

Wherein described wrist driven portion is configured to described when the wrist connector part is fixed to the wrist units Wrist drive part by relative to the second axis move second apparatus it is such in a manner of drive.

3. surgery system as claimed in claim 2, wherein first arm component further comprise being accommodated firmly in it is described The second apparatus drive component in first arm component body, the second apparatus drive component at least have the 4th integrated motor and Second apparatus drive part, wherein, the second apparatus drive part is provided at described the of the first arm component body Two ends, and wherein described second apparatus drive part can work as the wrist connector by the described 4th integrated motor control Part drives the second apparatus driven portion when being fixed to the wrist units.

4. surgery system as claimed in claim 1, wherein the end effector assemblies can be fixed to first arm component And it can be unclamped from first arm component.

5. surgery system as claimed in claim 4, wherein first apparatus is configured to be fixed to the end effector Component and from the end effector assemblies unclamp.

6. surgery system as claimed in claim 1, wherein first device assembly further comprises may be provided in described The first apparatus insulated part between one apparatus and the first apparatus driven portion, the first apparatus insulated part can match somebody with somebody Put come when the first apparatus insulated part is provided between first apparatus and the first apparatus driven portion First apparatus is set to be electrically isolated with least described first apparatus driven portion.

7. surgery system as claimed in claim 2, wherein second device assembly further comprises may be provided in described The second apparatus insulated part between two apparatuses and the second apparatus driven portion, the second apparatus insulated part can match somebody with somebody Put come when the second apparatus insulated part is provided between second apparatus and the second apparatus driven portion Second apparatus is set to be electrically isolated with least described second apparatus driven portion.

8. surgery system as claimed in claim 1, further comprises：

Port assembly, there is anchor in an end of the port assembly, the port assembly is fixed to outside grappling Device；And

Shoulder components, the shoulder components is fixed to second arm component an end, and can be fixed in another end To the anchor port of the port assembly.

9. surgery system as claimed in claim 8, wherein the port assembly includes：

First end section, the first end section have first end passage and the first gate assembly, first gate assembly It is configured in the open position for allowing to enter by the first end passage and prevents to enter by the first end passage Change between the closed position entered；And

The second end section, the second end section have：

The second end passage, the second end passage and the first end passage substantial alignment；

Second gate assembly, second gate assembly are configured in the open position for allowing to enter by the second end passage Change between the closed position for preventing to enter by the second end passage.

10. surgery system as claimed in claim 1, applied wherein first apparatus is configured to further receive from energy source The first electric current added is to perform the action of electrosurgical unit.

11. surgery system as claimed in claim 2, applied wherein second apparatus is configured to further receive from energy source The second electric current added is to perform the action of electrosurgical unit.

12. surgery system as claimed in claim 1, wherein the first arm component coupling part includes elbow driven portion, The elbow driven portion is configured to be driven in a manner of such relative to the first arm component described in the 3rd axial-movement.

13. one kind is used to perform the surgery system through natural cavity ESS (NOTES), the surgery system includes：

End effector assemblies, the end effector assemblies have：

First device assembly, first device assembly have：

First apparatus, first apparatus are used to perform surgery action；And

Arm component, the arm component have：

Second arm component body, the second arm component body have first end and relative with the first end second End；

It is described for the first arm component body to be connected to the first arm component coupling part of the second arm component body First arm component coupling part is fixed to the first end of the first arm component body；

In the end effector connector part that the second end of the first arm component body provides, the end performs Device connector part is configured at least a portion fixed to the end effector assemblies；

First apparatus drive component, the first apparatus drive component at least have the first integrated motor and the first apparatus drive division Point, wherein the first apparatus drive part can work as the end effector connector portion by the described first integrated motor control Divide and drive the first apparatus driven portion when being fixed to the end effector assemblies；And

First arm component drive component, the first arm component drive component at least have the second integrated motor and the first arm component Drive part, wherein the first arm component drive part can drive the first arm group by the described second integrated motor control Part body moves relative to the second arm component body.

14. surgery system as claimed in claim 13, wherein the end effector assemblies further comprise that institute can be fixed to The wrist units of the first device assembly is stated, the wrist units, which has, to be configured to by with relative to second axis motion first device The wrist driven portion that such mode of tool drives, the second axis are different from the first axle；Wherein described wrist group Part is the part fixed to the end effector assemblies of the end effector assemblies.

15. surgery system as claimed in claim 14, wherein the arm component further comprises：

Wrist drive component, the wrist drive component at least has the 3rd integrated motor and wrist drive part, wherein the wrist drives Part can be by the described 3rd integrated motor control come when the end effector connector part is fixed to the wrist units Drive the wrist driven portion.

16. surgery system as claimed in claim 15,

Second apparatus, second apparatus are used to perform surgery action；And

Wherein described wrist driven portion is configured to when the end effector connector part is fixed to the wrist units When by the wrist drive part by relative to the second axis move second apparatus it is such in a manner of drive.

17. surgery system as claimed in claim 16, wherein the arm component further comprises the second apparatus drive component, institute Stating the second apparatus drive component at least has the 4th integrated motor and the second apparatus drive part, wherein second apparatus drives Part can be by the described 4th integrated motor control come when the end effector connector part is fixed to the wrist units Drive the second apparatus driven portion.

18. surgery system as claimed in claim 13, wherein the end effector assemblies can be fixed to the arm component simultaneously And it can be unclamped from the arm component.

19. surgery system as claimed in claim 13, wherein first arm component further comprises may be provided in described The first apparatus insulated part between one apparatus and the first apparatus driven portion, the first apparatus insulated part can match somebody with somebody Put come when the first apparatus insulated part is provided between first apparatus and the first apparatus driven portion First apparatus is set to be electrically isolated with least described first apparatus driven portion.

20. surgery system as claimed in claim 16, wherein second device assembly further comprise may be provided in it is described The second apparatus insulated part between second apparatus and the second apparatus driven portion, the second apparatus insulated part can Configuration is provided between second apparatus and the second apparatus driven portion to work as the second apparatus insulated part When second apparatus is electrically isolated with least the second apparatus driven portion.

21. surgery system as claimed in claim 13, wherein first apparatus is configured to further receive from energy source The first electric current applied is to perform the action of electrosurgical unit.

22. surgery system as claimed in claim 16, wherein second apparatus is configured to further receive from energy source The second electric current applied is to perform the action of electrosurgical unit.

23. surgery system as claimed in claim 13, wherein

The first apparatus drive component is accommodated firmly in the first arm component body；

The first arm component drive component is accommodated firmly in the first arm component body, and wherein described first Arm component drive part can drive the first arm component body relative to by described the by the described second integrated motor control The axis rotation that one arm component body is formed；And/or

The wrist drive component is accommodated firmly in the first arm component body.

24. one kind is used to perform the surgery system through natural cavity ESS (NOTES), the surgery system includes：End Portion's actuator assembly, the end effector assemblies have：

First device assembly, first device assembly have：

First apparatus, first apparatus are used to perform surgery action；And

The wrist units of first device assembly can be fixed to, the wrist units, which has, to be configured to by with relative to second axis The wrist driven portion that such mode of first apparatus drives is moved, the second axis is different from the first axle Line；And

The wrist connector part provided at the first end of the first arm component body, the wrist connector part can Configure to be fixed to the wrist units；

The wrist drive component being accommodated firmly in the first arm component body, the wrist drive component at least have the second collection Into motor and wrist drive part, wherein the wrist drive part can work as the wrist connector by the described second integrated motor control Part drives the wrist driven portion when being fixed to the wrist units.

25. surgery system as claimed in claim 24,

Second apparatus, second apparatus are used to perform surgery action；And

26. surgery system as claimed in claim 25, wherein first arm component further comprises the second apparatus driving group Part, the second apparatus drive component at least have the 3rd integrated motor and the second apparatus drive part, wherein, second device Tool drive part can be driven by the described 3rd integrated motor control when the wrist connector part is fixed to the wrist units Move the second apparatus driven portion.

27. surgery system as claimed in claim 24, wherein first device assembly further comprise may be provided in it is described The first apparatus insulated part between first apparatus and the first apparatus driven portion, the first apparatus insulated part can Configuration is provided between first apparatus and the first apparatus driven portion to work as the first apparatus insulated part When first apparatus is electrically isolated with least the first apparatus driven portion.

28. surgery system as claimed in claim 25, wherein second device assembly further comprise may be provided in it is described The second apparatus insulated part between second apparatus and the second apparatus driven portion, the second apparatus insulated part can Configuration is provided between second apparatus and the second apparatus driven portion to work as the second apparatus insulated part When second apparatus is electrically isolated with least the second apparatus driven portion.

29. surgery system as claimed in claim 24, wherein first apparatus is configured to further receive from energy source The first electric current applied is to perform the action of electrosurgical unit.

30. surgery system as claimed in claim 25, wherein second apparatus is configured to further receive from energy source The second electric current applied is to perform the action of electrosurgical unit.