CN109330689A - Adjustable motion arm from operation apparatus assembly and operating robot - Google Patents

Adjustable motion arm from operation apparatus assembly and operating robot Download PDF

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Publication number
CN109330689A
CN109330689A CN201811228482.0A CN201811228482A CN109330689A CN 109330689 A CN109330689 A CN 109330689A CN 201811228482 A CN201811228482 A CN 201811228482A CN 109330689 A CN109330689 A CN 109330689A
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CN
China
Prior art keywords
main
arm
motion arm
motion
power
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Pending
Application number
CN201811228482.0A
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Chinese (zh)
Inventor
王建辰
其他发明人请求不公开姓名
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Jingfeng Medical Technology Co Ltd
Edge Medical LLC
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Shenzhen Jingfeng Medical Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to CN2018108588861 priority Critical
Priority to CN201810858886 priority
Application filed by Shenzhen Jingfeng Medical Technology Co Ltd filed Critical Shenzhen Jingfeng Medical Technology Co Ltd
Publication of CN109330689A publication Critical patent/CN109330689A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/301Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/302Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Abstract

The present invention relates to a kind of adjustable motion arms from operation apparatus assembly and operating robot, from operation apparatus assembly, comprising: power mechanism and motion arm, power mechanism have shell and be set to the intracorporal power part of the shell;Motion arm has sequentially connected driving portion, main body and end instrument, and the motion arm is connected with the power mechanism, described to change the distance between the main body and the housing sidewall from operation equipment.

Description

Adjustable motion arm from operation apparatus assembly and operating robot
Technical field
The present invention relates to Minimally Invasive Surgery field, more particularly to one kind from operation apparatus assembly and operating robot.
Background technique
Minimally Invasive Surgery refers to be applied inside body cavity using the modern medical equipments such as laparoscope, thoracoscope and relevant device A kind of modus operandi of row operation.There are the advantages such as wound is small, pain is light, recovery is fast compared to traditional operation mode Minimally Invasive Surgery.
With the development of science and technology micro-wound operation robot technology graduallys mature, and it is widely used.Micro-wound operation robot It generally includes master operating station and from operation equipment, master operating station is used to send control life to from operation equipment according to the operation of doctor It enables, with control from operation equipment, is used to respond the control command that master operating station is sent from operation equipment, and performed the operation accordingly Operation.
Currently, from operation equipment multiple motion arms performed the operation by a notch when will receive the limit of operative space System, and then limit its scope of application.
Summary of the invention
Based on this, it is necessary to it is biggish from operation apparatus assembly and operating robot to provide a kind of scope of application.
A kind of adjustable motion arm from operation apparatus assembly, comprising:
Power mechanism has shell and is set to the intracorporal power part of the shell;
Motion arm has sequentially connected driving portion, main body and end instrument, the motion arm and the power mechanism phase Connection, it is described to change the distance between the main body and the housing sidewall from operation equipment.
A kind of operating robot, including described from operation apparatus assembly and master operating station.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of operating robot of the present invention;
Fig. 2, Fig. 3 are respectively partial schematic diagram of the present invention from operation equipment difference embodiment;
Fig. 4, Fig. 5 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Fig. 6, Fig. 7 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Fig. 8, Fig. 9 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 10, Figure 11 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 12, Figure 13 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 14, Figure 15 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 16, Figure 17 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 18, Figure 19 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 20, Figure 21 be respectively Figure 18, in embodiment illustrated in fig. 19 motion arm structural schematic diagram;
Figure 22, Figure 23 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 24 is the structural schematic diagram of one embodiment of the invention;
Figure 25, Figure 26 are respectively structural schematic diagram of the present invention from operation one embodiment different conditions of apparatus assembly;
Figure 27 is the structural schematic diagram of one embodiment of operation of the present invention arm;
Figure 28 is partial structural diagram of the present invention from operation one embodiment of apparatus assembly;
Figure 29 is structural schematic diagram of the present invention from operation one embodiment of apparatus assembly;
Figure 30, Figure 31 are respectively the structural schematic diagram and its partial schematic diagram of one embodiment of the invention;
Figure 32 is structural schematic diagram of the present invention from operation one embodiment of apparatus assembly;
Figure 33, Figure 34 are respectively enlarged drawing at the partial sectional view and A of one embodiment of the invention;
Figure 35, Figure 36 are respectively partial sectional view of the present invention from operation apparatus assembly difference embodiment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.When an element is considered as " coupling " another element, it can To be to be directly coupled to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " water It is flat ", "left", "right" and similar statement for illustrative purposes only, be not meant to be the only embodiment.Herein Used term " distal end ", " proximal end " are used as the noun of locality, which is interventional medical device field common terminology, wherein " distal end " indicates that one end in surgical procedure far from operator, " proximal end " indicate one end that proximal operator is depended in surgical procedure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more Any and all combinations of relevant listed item.
As shown in Figure 1 to Figure 3, operating robot include master operating station 1 and from operation equipment 2.Wherein, master operating station 1 is used In sending control command to from operation equipment 2 according to the operation of doctor, with control from operation equipment 2, it is also used to show from setting Standby 2 images obtained.It is used to respond the control command that master operating station 1 is sent from operation equipment 2, and carries out corresponding operation, and And it is also used to obtain intracorporal image from operation equipment 2.
Specifically, from operation equipment 2 include mechanical arm 10, be set on mechanical arm 10 power mechanism 20, be set to it is dynamic Motion arm 30 on force mechanisms 20, and it is arranged the casing of motion arm 30.Mechanical arm 10 be used for adjust motion arm 30 position and Posture;Power mechanism 20 is for driving motion arm 30 to execute corresponding operating;Motion arm 30 is located at for protruding into vivo by it The end instrument 320 of distal end executes surgical procedure, and/or obtains internal image.Specifically, as shown in Figure 2 and Figure 3, motion arm 30 Casing is worn, end instrument 320 stretches out outside casing, and drives it to execute operation by power mechanism 20.In Fig. 2, motion arm 30 regions being located in casing are rigid region;In Fig. 3, motion arm 30 be located at the region in casing be flexible region, casing with Flexible region bends.In other embodiments, casing also can be omitted, at this point, being not necessarily to casing.
In one embodiment, mechanical arm is set on pedestal, and pedestal is for being placed in ground.Further, have on pedestal There is movable pulley, to facilitate adjustment from the position of operation equipment.In other embodiments, pedestal also can be set in ceiling or other Eminence region, to sling mechanical arm, for example, metope side wall.Alternatively, pedestal also can be set on operating bed.
In one embodiment, motion arm 30 be it is multiple, be all set on the same power mechanism 20, multiple motion arms 30 it is remote End is protruded into vivo by a notch on human body, so that its end instrument 320 is moved to lesion 3 and is nearby operated. Specifically, power mechanism has multiple power parts, and each power part is correspondingly connected with a motion arm.In other embodiments, power Mechanism is multiple, one motion arm 30 of setting on each power mechanism 20, and multiple motion arms protrude into vivo from a notch, this When multiple power mechanisms 20 both can be set on a mechanical arm 10, also can be set on multiple mechanical arms 10.It needs Bright, multiple motion arms 30 can also protrude into vivo from multiple notch, for example, two motion arms are protruded into each notch, then Such as, a motion arm is protruded into each notch.
It further include stamp card from operation equipment 2 in one embodiment, stamp card is fixedly installed for wearing the notch on human body In incision tract, motion arm is extend into vivo by stabbing card.
It is respectively structural schematic diagram of the present invention from operation apparatus assembly difference embodiment as shown in Fig. 4 to Figure 11.From Operating apparatus assembly includes three motion arms 30, the end instrument that motion arm 30 has main body 310 and is set in main body 310 320, multiple main bodys 310 close on setting, so that the main body 310 of multiple motion arms 30 protrudes into vivo from a notch.
In one embodiment, main body 310 is rod structure, for example, main body 310 is straight-bar, multiple straight-bars close on setting;For another example, Main body 310 is bent rod, and setting is closed in the distal end of multiple main bodys 310;For another example, multiple main bodys are at least basic each other in central region It abuts, to be protruded into vivo from a notch.It should be noted that main body 310 both can be elastic body 310, that is, have certain Elastic deformation, can also not have elastic deformation.In one embodiment, main body 310 is flexible body 310, i.e., main body 310 from Body adjustable position and posture, the neighbouring setting in the distal end of multiple flexible bodies 310, to be protruded into vivo from a notch.One implements In example, it is partially flexible body that the main part of multiple motion arms, which is rod structure,.
In one embodiment, multiple main bodys 310 successively abut substantially in incision tract, to enable between multiple main bodys 310 more It is compact.In other embodiments, multiple main bodys 310 can also successively be spaced setting in incision tract, for example, two of them main body The distance between 310 be 2~100mm, has bigger operating space to enable from operation apparatus assembly, and motion arm 30 is enabled to exist There is bigger opereating specification in vivo.Specifically, the distance between two main bodys can be 5~15mm, 3~10mm, 4~20mm etc.. In other embodiments, multiple main bodys 310 can also be abutted partially in incision tract, the setting of part interval.
In one embodiment, a main body 310 is set, each main body 310 connects an end instrument on each motion arm 30 320.It can also include multiple main bodys with a motion arm in other embodiments;One main body also can connect multiple end instruments. For convenience of description, following each embodiments are one main body of setting on each motion arm, and an end device is arranged in each main body Tool.It is understood that multiple main bodys also can be set on a motion arm as needed;It also can be set in one main body more A end instrument, wherein the type of end instrument both can be identical, can also be different.
In embodiment as shown in Figure 4, Figure 5, multiple main bodys 310 of motion arm 30 are located at the part of incision tract successively along straight Line arrangement.It should be noted that motion arm 30 or other quantity, such as motion arm 30 are four, five etc., Duo Gecao The main body 310 for making arm 30 is located at the part of incision tract successively along arranged in a straight line.
It is above-mentioned from operation apparatus assembly, due to multiple along main body 310 arranged in a straight line, enabling can be from from operation apparatus assembly Strip cut protrudes into vivo, and then enables to protrude into from operation apparatus assembly from relatively narrow region and be operated in vivo, example Such as, internal from being protruded between rib cage.
The part that the main body 310 of multiple motion arms 30 is located at incision tract compact can also be arranged, multiple in an embodiment Motion arm 30 is triangularly arranged.For example, main body 310 is three, three 310 triangular in shape points of main body in embodiment illustrated in fig. 3 Cloth, wherein triangle can be isosceles triangle or equilateral triangle etc..For another example, Fig. 6, in embodiment illustrated in fig. 7, motion arm 30 Including four, the main body 310 of four motion arms 30 is arranged in triangle, wherein three main bodys 310 are formed along arranged in a straight line The wherein a line of triangle, another main body 310 form triangle with two main bodys 310 for being located at the side edge respectively Two other side.Further, triangle two other edge lengths are identical, i.e., two are formed by two 30 main bodys 310 of motion arm Edge lengths it is identical.For another example, Fig. 8, in embodiment illustrated in fig. 9, motion arm 30 includes four, wherein three main bodys 310 are in three Angular distribution, and be distributed along the periphery of another main body 310, wherein the main body 310 of three distributions triangular in shape can be along in addition The periphery of one motion arm 30 is evenly distributed.
In other embodiments, the part that the main body 310 of multiple motion arms 30 is located at incision tract can also be in quadrangle point Cloth.For example, in Figure 10, embodiment illustrated in fig. 11, main body 310 is four, be located at the part of incision tract in distributed rectangular or The distribution of person's parallelogram.For another example, main body 310 is five, and wherein a line includes three masters along lineal layout to quadrangle Body 310.
It should be noted that according to actual needs, the main body 310 of multiple motion arms 30 can be lined up multiple rows of.For example, multiple behaviour Make arm 30 and lines up three rows.For another example, multiple motion arms line up four rows.
In one embodiment, cross-sectional dimensions of the main body 310 in incision tract part are essentially identical, and wherein specification includes transversal Face shape and size.For example, main body 310 is circle in the cross section of cut out portion, diameter is all the same.In other embodiments, Main body 310 the cross section of incision tract part specification can also different or part it is different.For example, main body 310 is being cut The identical size of cross-sectional shape of mouth region domain part is different.Wherein, multiple main bodys 310 can be according to the size of cross section successively along straight Line arrangement.For example, the size according to cross section arranges from small to large, and specifically, cross section of the main body 310 in incision tract part For circle, multiple main bodys 310 are arranged successively according to diameter dimension.For another example, multiple main bodys 310 are according to the size of cross section with centre Big mode small in ends arranges.For another example, multiple main bodys are circle in the cross section of incision tract part, and part of main body is horizontal The radius in section is identical.It should be noted that the cross-sectional dimensions of main body each section both can be all the same, it can also be at least partly It is identical or different.
It should be noted that the length of multiple main bodys both can be identical, and it can also be different, to adapt to different requirements.
Motion arm 30 includes the first motion arm 31, the second motion arm 32.First motion arm 31 has the first main body 311 and sets The operation portion 312 being placed in the first main body 311, the second motion arm 32 include the second main body 321 and are set in the second main body 321 Image portion 322, wherein operation portion 312 and image portion 322 are end instrument 320.When being performed the operation, image portion 322 and behaviour Make portion 312 to be respectively positioned in vivo, wherein image portion 322 is for obtaining internal image, and operation portion 312 is for executing surgical procedure.
It should be noted that the first motion arm both can be identical with the section diameter in incision tract of the second motion arm, Can also be different, for example, the diameter of the second main body is greater than the diameter of the first main body.
It include two operation portions 312 and an image portion 322, two operation portions from operation apparatus assembly in one embodiment 312 are respectively positioned between image portion 322 and lesion (as shown in Figure 3).Wherein, two operation portions 312 are respectively positioned on image portion 322 and disease Between stove, refer to that, when image portion 322 is located remotely from lesion maximum distance, the extreme position of operation portion 312 in same direction is located at Between image portion 322 and lesion.In this way, the better visual field can be obtained when executing surgical procedure from operation apparatus assembly, and Operation portion 312 has biggish operating space.
When operation portion is three and three or more, can both be respectively positioned between image portion 322 and lesion, it can also be down to Few two of them are between image portion 322 and lesion.When image portion 322 is multiple, operation portion 312 is respectively positioned on lesion most Between remote image portion 322 and lesion or part operation portion 312, which is located at, to be arrived between lesion farthest image portion 322 and lesion, Arriving lesion distance at this time is farthest operation portion 312.
In other embodiments, when image portion 322 is located remotely from lesion maximum distance, the pole of operation portion 312 in same direction Extreme position can also or image portion 322 concordant with the position of image portion 322 between operation portion 312 and lesion.
In one embodiment, operation portion 312 includes two, and image portion 322 is located between two operation portions 312, i.e., two behaviour When making the distance between portion 312 maximum, the extreme position of image portion 322 is located between two operation portions 312 (such as Fig. 3, Fig. 4 institute Show).For example, image portion 322 is located at the central region of two operation portions 312.In other embodiments, image portion 322 can also position In the side of two motion arms 30.
When operation portion 312 is three or three or more, it is maximum that image portion 322 is located at distance in multiple operation portions 312 Between two operation portions 312.It wherein, both can be the multiple main bodys arranged along certain direction apart from maximum two operation portions 312 Operation portion 312 in 310 in the main body 310 at both ends, or the operation portion 312 in the main body 310 of intermediate region;And It and apart from maximum two operation portions 312 both can be operation portion along the row that certain direction arranges in two main bodys 310 312, or the operation portion 312 in difference row in two main bodys 310.In one embodiment, it is farthest that image portion 322 arrives distance When the distance of two 312 lines of operation portion is farthest, image portion 322 is located at the central region of two operation portions 312, can also manage Xie Wei, 322, two operation portions 312 of image portion are in equilateral triangle to be distributed or along lineal layout, distribution in equilateral triangle When, the distance of image portion 322 to the side formed by operation portion 312 is extreme position of the image portion 322 in the direction.Other are implemented In example, image portion 322 can also be close to one of operation portion 312.Or in other embodiments, image portion 322 is located at more Between the two of them of a operation portion 312, i.e., when two operation portions 312 are apart from maximum, image portion 322 is located at this two operations Between portion 312.
Multiple main bodys 310 are corresponding with the position of notch and shape in the arrangement mode of incision tract.Itself and above-mentioned each reality It is identical to apply example, no longer repeats herein.When main body 310 include the first main body 311 and the second main body 321 when, can as needed into Row arrangement.
In embodiment as shown in Figure 4, Figure 5, motion arm 30 includes two the first main bodys 311, and second main body 321 is more A first main body 311, the second main body 321 are along lineal layout.Wherein, the second main body 321 is located between two the first main bodys 311, So that image is located between two operation portions 312, operation portion 312 is enabled to obtain bigger operation model under the monitoring of image portion 322 It encloses.
In other embodiments, the second main body 321 can also be located at the end in the multiple main bodys 310 being arranged in a row, wherein When lesion is directed toward in the orientation of multiple main bodys 310, opposite first main body 311 of the second main body 321 is far from lesion, so that two Motion arm 30 is between image portion 322 and lesion.
When the main body 310 of motion arm 30 is in more bat arrangements, in an embodiment, the row far from lesion includes the second main body 321, several rows remaining at this time both can be the first main body 311, can also partially be the second main body 321.
In embodiment as shown in Figure 6, Figure 7, the main body 310 of three motion arms 30 is along arranged in a straight line, another motion arm 30 be the second motion arm 32.Wherein, along the end instrument 320 of motion arm 30 arranged in a straight line, i.e. operation portion 312 or image portion 322, positioned at not with other three motion arms 30 between the image portion 322 and lesion of motion arm 30 arranged in a straight line, for example, three A main body 310 along lineal layout is located between another main body 310 and lesion.Three along main body 310 arranged in a straight line both It may include the second main body 321, can also be the first main body 311.In the present embodiment, three equal along motion arm arranged in a straight line For the first main body, in other embodiments, three include second main body 321 along motion arm 30 arranged in a straight line, are located at another Between outer two main bodys 310.In other embodiments, the main body 310 of three motion arms 30 is along arranged in a straight line, another motion arm 30 may be the first motion arm 31.Alternatively, the end of another motion arm 30 not being arranged in a row with other motion arms 30 Instrument 320 can also be located between the end instrument 320 and lesion of other motion arms 30.
When the main body 310 of motion arm 30 is in more than three rows or three rows arranging, in an embodiment, the row far from lesion is Second main body 321, intermediate row and the row close to lesion are the first main body 311.For example, intermediate row includes at least two first Main body 311, at least one first main body 311 of a row of close lesion is between two the first main bodys 311 of intermediate row.For another example, In Figure 10, embodiment illustrated in fig. 11, the main body 310 of multiple motion arms 30 is distributed in quadrangle, wherein the main body far from lesion 310 be the second main body 321, other main bodys 310 are between above-mentioned second main body 321 and lesion.In the present embodiment, excess-three Main body 310 is the first main body 311, and in other embodiments, excess-three main body 310 also may include the second main body 321, so as to set It sets image portion 322 thereon and the image portion 322 far from lesion obtains image together.For example, the main body 310 close to lesion is the Two main bodys 321.Further, the middle part of two the first main bodys 311 is located at close to the second main body 321 of lesion.
In other embodiments, protruding into from operation apparatus assembly from a notch can not also in intracorporal multiple motion arms 30 With the second motion arm 32, the second motion arm 32 can protrude into vivo from another notch, to obtain more preferably field range.Each operation The arrangement of 30 main body of arm can be identical as the various embodiments described above, or the second motion arm 32 is replaced with the various embodiments described above Arrangement mode after one motion arm 31 is identical.
For example, the first motion arm 31 is three, the main body 310 of three the first motion arms 31 is along lineal layout.For another example, first Motion arm 31 is four, the distribution triangular in shape of main body 310 of four motion arms 30, and the wherein a line of triangle includes three masters Body 310.For another example, the first motion arm 31 is four, wherein the distribution triangular in shape of main body 310 of three motion arms 30.For another example, first Motion arm 31 is four, wherein three main bodys 310, along lineal layout, another main body 310 is located at the operation being arranged in a row Between the first main body 311 and lesion of arm 30.
It should be noted that the arrangement mode of the arrangement mode of multiple main bodys 310 and multiple end instruments 320 both can be with that This is corresponded to, and can not also be corresponded to.Wherein the arrangement mode of main body 310 can based on 310 incision tract arrangement mode, can also The arrangement mode of based on 310 distal ends.It should be noted that for the convenience of description, main body is located in various embodiments of the present invention The arrangement mode of incision tract and the arrangement mode of body distal end are consistent, it is to be understood that main body is located at the region row of notch Column mode can also be different with the arrangement mode of body distal end, but the end instrument connected thereon, with the end in each embodiment Instrument arrangement mode is consistent.
In one embodiment, the relative position and arrangement mode of operation portion 312 and image portion 322 and the first main body 311, second The position arrangement mode of main body 321 is corresponding.For example, when operation portion 312 is between image portion 322 and lesion, the first main body 311 between the second main body 321 and lesion;For another example, when image portion 322 is located between two operation portions 312, the second main body 321 are located between two the first main bodys 311.In other embodiments, the relative position arrangement mode between end instrument 320 can also With between main body 310 position and arrangement mode it is different, for example, when operation portion 312 is between image portion 322 and lesion, First main body 311 in attended operation portion connects the second main body 321 of image portion along arranged in a straight line.For another example, three the first main bodys 311 are arranged successively, wherein the operation portion 312 of two neighboring main body 310 is located at the two of the operation portion 312 of another main body 310 Side.
Motion arm 30 further includes connection component 340, and the both ends of the connection component 340 of the first motion arm 31 are separately connected first Main body 311 and operation portion 312, so that the first motion arm 31 adjusts position of the operation portion 312 with respect to the first main body 311 and posture, The both ends of second motion arm, 32 connection component 340 are separately connected the second main body 321 and image portion 322, so that the second motion arm 32 Adjust position of the image portion 322 with respect to the second main body 321 and posture.It should be noted that multiple motion arms 30, both can have There is connection component 340, can also only have part operation arm 30 with connection component 340.
Operation portion 312 and the position of image portion 322 in the various embodiments described above can be adjusted by connection component 340. For example, operation portion 312 is adjusted in the maximum of connection component 340 when two operation portions 312 are respectively positioned between image portion 322 and lesion When adjusting range region, between image portion 322 and lesion.For another example, image portion 322 is located in multiple operation portions 312 distance most When between two big operation portions 312, maximum magnitude adjustment region of this two operation portions 312 in connection component 340.
In one embodiment, the adjustable range and/or length of at least two connection components 340 are identical.For example, multiple connection groups The adjustable range of part 340 is all the same.For another example, more when motion arm 30 includes multiple first motion arms 31 and the second motion arm 32 The adjustable range and/or length of connection component 340 on a first motion arm 31 are identical, with the connection group on the second motion arm 32 The adjustable range and/or length of part 340 are different.For another example, the adjustable range and/or length of each connection component 340 are different.
In one embodiment, connection component 340 includes at least four freedom degrees.The one of freedom degree of connection component 340 is extremely Few motion arm 30 for enabling connection or image portion 322 rotatable 0 to 300 are spent.For example, the rotation in 90 degree;For another example, in 180 inward turnings Turn;For another example, the rotation in 30 degree.
It should be noted that the relative position in the various embodiments described above between end instrument 320, can be connection component 340 in extreme position, the relative position between multiple end instruments 320.
It is respectively structural schematic diagram of the present invention from operation apparatus assembly difference embodiment as shown in Figure 12 to Figure 26.
It include: motion arm 30 and power mechanism 20 from operation apparatus assembly.Wherein, motion arm 30 has sequentially connected drive Dynamic portion 330, main body 310 and end instrument 320;The power part that power mechanism 20 has shell 210 and is set in shell 210 220, power part 220 is connected with driving portion 330, for driving end instrument 320 by driving portion 330, from operation equipment group Part can change the relative position between 210 side wall of main body 310 and shell, with increase from operation apparatus assembly the scope of application and Using flexible.
In one embodiment, motion arm 30 be it is multiple, multiple main bodys 310 from a notch protrude into vivo, from operate equipment group Part can change the relative position that multiple main bodys 310 are located at incision tract.For example, in Figure 12, embodiment illustrated in fig. 13, main body 310 include three, enables the main body 310 for being located at incision tract switch to triangular in shape point from linear distribution from operation apparatus assembly Cloth, or linear distribution is switched to from distribution triangular in shape.For another example, it can be changed from operation apparatus assembly multiple along straight line point The distance between main body 310 of cloth.It should be noted that the quantity of multiple main bodys 310 and the arrangement mode positioned at incision tract It is identical as the various embodiments described above, switching in the arrangement mode of the various embodiments described above for its main body can be enabled from operation equipment.
In Figure 14, embodiment illustrated in fig. 15, main body on driving portion 330 is adjusted from operation apparatus assembly by power part 220 The distance between 310 and 210 side wall of shell to enable main body 310 protrude into vivo from the different location of a notch, or enable main body 310 protrude into vivo from different incisions.It wherein, is bottom wall towards the surface of human body in surgical procedure, side wall is adjacent with bottom wall.Main body The distance between 310 and 210 side wall of shell refer to, main body 310 be located at the part of incision tract to 210 side wall of shell place plane it Between distance, adjust the distance and refer to and adjust main body 310 the distance between at least one 210 side wall of shell.In other embodiments, Power part 220 also adjustable 310 other parts of main body the distance between to 210 side wall of shell.
It is above-mentioned to adjust the position of main body 310 from operation apparatus assembly, and then increase from the suitable of operation apparatus assembly Use range.
In one embodiment, power part 220 can be rotated with respect to shell 210, to adjust the position of main body 310.Specifically, power Mechanism 20 further includes interconnecting piece 230, and shell 210 has guide rail 211, and interconnecting piece 230 is set on guide rail 211, and with guide rail 211 Slidably, power part 220 is rotatably dispose on interconnecting piece 230, and can be rotated with interconnecting piece 230 with respect to shell 210.Further Ground, the extending direction of guide rail 211 and the rotation axis direction of power part 220 are identical.Wherein, main body 310 is for protruding into cutout regions The non-coincidence setting of rotation axis of the part in domain and driving portion 330, so that power part 220 can change main body 310 when rotated The distance between the part and 210 side wall of shell, for example, main body 310 and rotation axis parallel interval are arranged.
It is above-mentioned from operation apparatus assembly, be set to the tool of motion arm 30 on power part 220 there are two freedom degree, to enable from behaviour It is more flexible to make apparatus assembly, and the scope of application is wider, the position of main body 310 is adjusted by rotational power portion 220, enables and adjusting more Add simple and convenient.
It should be noted that guide rail can also extend along other directions in other embodiments, for example, its extending direction with Rotary shaft intersection, and be acute angle.In other embodiments, guide rail 211 also can be omitted;Main body 310 and rotation axis can also be with shapes At angle, for example, main body 310 is straight-bar, acute angle is formed with rotary shaft.
In other embodiments, power part 220 can also be movable so as to adjust main body 310 to 210 side of shell with respect to shell 210 The distance between wall, for example, power part is slideably positioned on guide rail, wherein the extending direction of guide rail is directed toward the side wall of shell, this Sample passes through the distance between translation adjustment main body to housing sidewall.
In one embodiment, power part 220, motion arm 30 be it is multiple, motion arm 30 is set to corresponding power part On 220, power part 220 is used for the main body 310 of motion arm 30 from first position adjusting to the second position, and multiple main bodys 310 exist The arrangement of first position is different with the arrangement in the second position.Wherein, at least partly main body 310 is in first position and the second position When to 210 side wall of shell distance it is different, i.e., when partial distance is different, can have portion body 310 in first position and the Position is constant when two positions, and the distance to 210 side wall of shell does not change.For example, main body 310 includes three, one of them 310 position of main body is constant, other two 310 position of main body is at first position and the second position, position change, and three masters Body 310 is different with arrangement mode when the second position at first position.For another example, main body 310 includes three, and three main bodys 310 exist When first position and the second position, position changes, and the arrangement mode of three main bodys 310 is also changed.Other realities It applies in example, motion arm 30 can also be moved to other positions, such as the third place by power part 220, and multiple main bodys 310 are located at the When three positions, arrangement mode with to be located at first position, the arrangement mode of the second position different.
It should be noted that the quantity of power part 220 both can be identical as motion arm 30, it can also be more than motion arm 30 Quantity, motion arm 30 can be as needed on even corresponding power parts 220.
It is above-mentioned to change the arrangement that multiple main bodys 310 are located at incision tract from operation apparatus assembly, and then enable from operation Apparatus assembly can adapt to different incisions, to be operated in human body different location.
In one embodiment, when multiple main bodys 310 are located at first position, the part in incision tract is arranged in a row.It is located at When the second position, multiple main bodys 310 concentrate arrangement.For example, main body 310 includes three in Figure 12, embodiment illustrated in fig. 13, point Successively along arranged in a straight line when 310A, main body 310B, main body 310C based on not, three main bodys 310 are located at first position, positioned at the When two positions, the part in incision tract is triangularly arranged, and specifically, when the second position, main body 310B is located remotely from disease The position of stove, main body 310A, main body 310C are between main body 310B and lesion.For another example, Figure 16, in embodiment illustrated in fig. 17, Main body 310 includes four, and 310A, main body 310B, main body 310C, main body 310D, four main bodys 310 are located at first based on difference Successively along arranged in a straight line when position, when second position is in quadrangular array, and specifically, when the second position, main body 310A is located at remote Position from lesion, main body 310D are located at close to the position of lesion, and main body 310B, main body 310C are respectively positioned on main body 310A, main body Between 310D.It should be noted that the arrangement mode of multiple main bodys 310 can be arranged according to mode described in the various embodiments described above, this Place is no longer repeated.
In one embodiment, in the main body 310 of multiple motion arms 30, the radius of turn of at least two main bodys 310 is different, to enable After multiple main bodys 310 rotate, arranged according to predetermined manner.For example, the radius of turn of multiple main bodys 310 is different.Other are implemented It, can also be identical with the radius of turn of the main body 310 of multiple driving portions 330 in example.It should be noted that the rotation of main body 310 half Diameter can both refer to that main body 310 in the radius of turn of the part of incision tract, can also refer to the rotation half of 310 proximal end region of main body Diameter or other need to change the radius of turn of the band of position.
In one embodiment, motion arm is adjusted from operation apparatus assembly by the motion arm 30 that replacement is connect with power part 220 The distance between 30 main bodys 310 and 210 side wall of shell.Specifically, as in Figure 18, embodiment illustrated in fig. 19, motion arm 30 has First position motion arm 33, second position motion arm 34, first position motion arm 33, second position motion arm 34 are moved with identical When power portion 220 connects, the distance between main body 310 and 210 side wall of shell are different.For example, power part 220 connects equipped with power Disk is connect, driving portion 330, which is equipped with, is drivingly connected disk 331, it is connected with the corresponding disk that is connected by power, as shown in Figure 20, Figure 21, the The distance of the main body 310 of one position motion arm 33 to the central region for being drivingly connected disk 331 is less than second position motion arm 34 Main body 310 to be drivingly connected 331 central region of disk distance, wherein main body 310 to be drivingly connected 331 central region of disk away from From the distance between region and the terminal pad central region extension line that finger 30 main body 310 of motion arm is located at incision tract part.Again Such as, the distance of the main body 310 of first position motion arm 33 to the central region for being drivingly connected disk 331 is greater than second position motion arm Distance of 34 main body 310 to drive connection 331 central region of disk.
It should be noted that when quantity of the quantity of power part more than the motion arm needed, first position motion arm, the Two position motion arms can also be by being installed on different power parts, the distance between adjusting main body to housing sidewall, at this point, The distance of main body to the drive disk central region of first position motion arm, second position motion arm can be identical, driving portion shape phase It is different, to be installed on the power part of needs.It should be noted that first position motion arm, second position motion arm both can be First motion arm may be the second motion arm, it is understood that be that first position motion arm both can be for for executing operation First motion arm of operation has operation portion, or for obtaining the second motion arm of image, has image portion.
It also may include that opposite 210 position of shell of multiple main bodys 310 is different from operation apparatus assembly in other embodiments Motion arm 30, for example, including first position motion arm 33, second position motion arm 34, the third place behaviour from apparatus assembly is operated Make arm, the main body 310 of three is different with respect to the position of shell 210.
In one embodiment, motion arm 30 has two groups, has first position motion arm 33 in first group of motion arm, and second group There is second position motion arm 34, when power part 220 is correspondingly connected with first group of motion arm, from operation apparatus assembly in motion arm Main body 310 is located at first position, when power part 220 is correspondingly connected with second group of motion arm, from main body 310 of operation apparatus assembly In the second position, arrangement of multiple main bodys 310 in first position is different with the arrangement in the second position.Motion arm 30 can also wrap Other group of number is included, after the motion arm 30 in every group is connected with corresponding power part 220, from multiple main bodys of operation apparatus assembly 310 arrange according to predeterminated position, and after multiple groups motion arm 30 is connect with power part 220, the arrangement mode of main body 310 is different.It is more The specific arrangement mode of a main body 310 can be identical as the various embodiments described above, no longer repeats herein.
In one embodiment, first group of motion arm and the motion arm 30 in second group of motion arm are different.For example, first group of behaviour It is first position motion arm 33 as arm, second group of motion arm is second position motion arm 34.For another example, first group of motion arm packet First position motion arm, the third place motion arm are included, second group of motion arm includes second position motion arm, the operation of the 4th position Arm, wherein first position motion arm, second position motion arm, the third place motion arm, the 4th position motion arm are set to same When on a power part 220, main body 310 is different with respect to the distance between 210 side wall of shell.As needed, from operation equipment Component can also include more motion arms 30, and when different motion arms 30 is set on the same power part 220, main body The distance between 310 opposite 210 side walls of shell are different.
In one embodiment, first group of motion arm is identical as 30 part of motion arm in second group of motion arm, i.e. two groups of operations In arm 30 include the identical motion arm 30 of structure, wherein the identical motion arm 30 of structure in different location, both can with it is identical Power part 220 be connected, can also be connected from different power parts 220.For example, including first in first group of motion arm Set motion arm 33, second position motion arm 34, wherein be located at first position, the from the motion arm 30 of operation apparatus assembly When two positions, the second motion arm 32 in first group of motion arm is connected with identical power part 220.For another example, second group of operation It include first position motion arm 33, second position motion arm 34 in arm, wherein distinguish position from the motion arm 30 of operation apparatus assembly When first position, the second position, the first motion arm 31 in second group of motion arm is connected from different power parts 220.
Further, in an embodiment, the body position of identical motion arm 30 is adjacent in two groups, i.e., the operation in two groups At at least one of which position, the main body of identical motion arm 30 is disposed adjacent arm 30.For example, implementing shown in Figure 22, Figure 23 In example, it is arranged in a linear from the main body 310 of multiple motion arms 30 of operation apparatus assembly at first position, wherein adjacent two A motion arm 30A, 30B are when being changed to the second position from the motion arm 30 of operation apparatus assembly without adjustment, remaining operation Arm 30 is replaced with the motion arm 30 different with first position structure.In other embodiments, identical motion arm 30 can also in two groups It is arranged with interval, or part is disposed adjacent, the setting of part interval.
In one embodiment, in embodiment as shown in figure 24, adjusted from operation apparatus assembly by the elastic deformation of main body 310 Relative position between main body 310 and shell 210.Specifically, main body 310 has elastic deformation, with change multiple main bodys 310 with Relative position between 210 side wall of shell, wherein main body 310 can also guarantee it just while can guarantee to change position Degree, to enable multiple main bodys 310 in surgical procedure keep stablizing.
In one embodiment, motion arm 30 be it is multiple, the main bodys 310 of multiple motion arms 30 protrudes into vivo from a notch, leads Body 310 can change its arrangement mode for being located at incision tract part, and wherein arrangement mode is identical as the various embodiments described above, herein No longer repeat.In other embodiments, multiple motion arms 30 can also protrude into body from different incisions by the adjusting of elastic body 310 It is interior.
It further include attaching means 50 from operation apparatus assembly, attaching means 50 offers through-hole, multiple motion arms in one embodiment 30 wear through-hole, to enable main body 310 arrange in a manner of through-hole limitation.In the present embodiment, after main body 310 wears through-hole, prolong Direction is stretched to be limited also by through-hole.For example, multiple main bodys 310 are set parallel to each other after main body 310 wears through-hole, and with The surface for opening up through-hole is vertical, and specifically, attaching means 50 has certain thickness, allows it to the extension for adjusting main body 310 Direction.For another example, it after multiple main bodys 310 wear through-hole, is arranged radially.For another example, after multiple main bodys 310 wear through-hole, part Main body 310 is arranged in parallel, and the main body 310 relatively disposed in parallel of portion body 310 is arranged radially.
Further, in an embodiment, through-hole is one, and multiple main bodys 310 wear the through-hole.In other embodiments, Through-hole may be it is multiple, wherein the quantity of through-hole both can be corresponding with the quantity of main body 310, can not also be correspondingly arranged. For example, the quantity of through-hole is identical as the quantity of main body 310, each main body 310 wears a corresponding through-hole.For another example, lead to The quantity in hole is less than the quantity of main body 310, and portion body 310 wears the same through-hole.For another example, the quantity of through-hole is greater than main body 310 quantity, main body 310 are set as needed in corresponding through-hole.
Multiple through-holes or the arrangement mode of main body 310 are identical as 310 arrangement mode of main body in the various embodiments described above, herein No longer repeat.
In one embodiment, attaching means 50 can also be to be multiple, and the through-hole of multiple attaching means 50 is different, and when use can be as needed Select one of attaching means 50.
In one embodiment, main body 310 and shell 210 are adjusted by the link position of change motion arm 30 and power part 220 The distance between side wall.In Figure 25, embodiment illustrated in fig. 26, driving portion 330, which has, is drivingly connected disk 331, on power part 220 It is connected by power disk 221 equipped with multiple, power part 220 can connect driving portion 330 from different location, to change from operation apparatus assembly Relative position between opposite 210 side wall of shell of middle main body 310.
Wherein, power part 220 is from different location attended operation portion 312 it is to be understood that when driving portion 330 has a drive When dynamic terminal pad 331, the disk 221 that is connected by power connected from the motion arm 30 of operation apparatus assembly in different location can be different Can also be identical, i.e., it is connected in different location from the different or identical disk 221 that is connected by power, when being connected by power disk with identical When 221 connection, rotary driving part 330 enables it install from another angle to power part 220, to enable from operation apparatus assembly Motion arm 30 is located at different location;When driving portion 330 has multiple drive connection disks 331, multiple drive connection disks 331 are not With position connection to be connected by power disk 221 at least partly different or identical, i.e. drive connection disk 331 is in first position When be connected by power disk 221 with a part and connect, be connected by power disk 221 with another part at the second position and connect, wherein this two Partial power terminal pad 221 both can different (as shown in Figure 25, Figure 26), can also part it is different or all the same, need Illustrate, wherein the identical disk 221 that is connected by power both can connect identical drive connection disk 331 in different positions, Different drive connection disks 331 can be connected in different location.
In one embodiment, motion arm 30 is rotated relative to power part 220, more to become the second position from first position.For example, Motion arm 30 rotates counterclockwise when changing position, in first position and when the second position, on power part 220 be drivingly connected disk 331 connections to be connected by power disk 221 identical, in different location, connect different drive connection disks 331.For another example, motion arm It rotates clockwise when 30 change position, at first position and the second position, is connect on power part 220 with drive connection disk 331 Be connected by power that 221 part of disk is identical, and the identical disk 221 that is connected by power connects identical drive connection disk in different location 331。
In other embodiments, motion arm 30 can also be adjusted by translation mode main body 310 with respect to shell 210 side wall away from From.Specifically, the driving portion 330 of motion arm 30 is translated with respect to power part 220, to be changed to the second position from first position.
In one embodiment, the drive connection disk 331 of motion arm 30 is symmetrical arranged, and is connected by power disk 221 on power part 220 It is symmetrical arranged.For example, the quantity for being connected by power disk 221 is identical as the quantity of disk 331 is drivingly connected, pass through rotary driving part 330 It enables being drivingly connected disk 331 and connecting in different location and different is connected by power disk 221.For another example, the quantity of disk 221 is connected by power to drive The multiple of dynamic 331 quantity of terminal pad enables drive connection disk 331 connect different move in different location by rotary driving part 330 Power terminal pad 221, wherein in different location, 230 different piece of power connection is connected by power disk 221 and drive connection Disk 331 is connected.
The power part 220 of power mechanism 20 is arranged as needed, and the arrangement mode of multiple power parts 220 both can be with The arrangement positioned at incision tract part of multiple main bodys 310 is identical, can also be different.For example, power mechanism 20 includes three dynamic Power portion 220, multiple power parts 220 are arranged in a row.For another example, power part 220 includes three, three 220 triangular in shape points of power part Cloth.For another example, power part 220 includes four, and four power parts 220 are distributed in quadrangle, and further, multiple power parts 220 are right Title is set on shell 210.
Referring to Figure 2 together 7, it is the structural schematic diagram of 30 1 embodiment of motion arm, the main body 310 of motion arm 30 is arranged It is arranged in the fringe region of driving portion 330, and with the new ro-tational axis of driving portion 330, when so that driving portion 330 rotating, changes The distance between main body 310 and 210 side wall of shell.In one embodiment, main body 310 and the side of driving portion 330 are tangent, main body 310 are set on the bottom surface of driving portion 330, formation angle in two sides adjacent with bottom surface on driving portion 330, and main body 310 In angle region.Wherein, for driving portion 330 towards the surface of human body, side is the surface adjacent with bottom surface when bottom surface refers to operation, is driven Surface and the surface of setting main body 310 in dynamic portion 330 for connecting power mechanism 20 both can be the same surface, can also be with For different surfaces.In other embodiments, main body 310 also be can be set in 330 other surfaces of driving portion.It should be noted that The specification of driving portion 330 both can be identical as power part 220, can also be different with power part 220.For example, driving portion and power The shape in portion is identical.
From operation apparatus assembly, the end that main body 310 is arranged in multiple driving portions 330 is close to each other, and the other end is not towards With position, with installation space needed for reducing multiple driving portions 330, to reduce the volume with operation equipment.For example, Figure 22 institute Show in embodiment, the other end of part driving portion 330 and is handed over towards on the contrary, be partially toward identical towards different driving portions 330 Mistake setting.For another example, in embodiment illustrated in fig. 23, another part direction of multiple driving portions 330 is different.
It include four motion arms, the basic phase of driving portion specification from operation apparatus assembly as shown in figure 23 in one embodiment Together, there are two the different ends of specification for driving portion tool, wherein main body is arranged in lesser end, two ends since specification is different, So that driving portion has directive property, smaller end is directed toward by larger end, wherein directive property is the line direction of two ends It is directed toward.In other embodiments, the specification of two ends of driving portion can also be identical, its directive property is the company of two ends at this time The direction in line direction, main body, which also can according to need, to be set on different ends, such as is set on biggish end.
Each driving portion all has an inclined direction with respect to shell, it is understood that is the line of two ends The side of opposite shell has an inclined direction, and the extension line of the inclined direction of two neighboring driving portion intersects, i.e., and adjacent two Two end lines of a driving portion intersect, and the extension line of the inclined direction of multiple driving portions is not met at a bit.In the present embodiment, The inclined direction of multiple driving portions forms a quadrilateral area, for example, parallelogram, rectangle, diamond shape etc..Other embodiments In, the inclined direction of multiple driving portions can also form herringbone, i.e., wherein the inclined direction of three driving portions and another Driving portion intersection.In other embodiments, the inclined direction of multiple driving portions can also be met at a bit.In the present embodiment, driving portion Cross section is strip.
In one embodiment, the section of shell is quadrangle, and motion arm is four, and main body is distributed in quadrangle, two four Side shape has offset, i.e., the quadrangle each edge that main body is formed all has angle with the quadrangle each edge of housing section.Example Such as, four sides of four driving portion corresponding housings, the angle between each driving portion and corresponding side is all the same, into One step, shell is asymmetric housings, and multiple driving portions are symmetrically disposed on shell.For another example, it in four driving portions, at least partly drives Angle between dynamic portion and corresponding side is different.In other embodiments, the section of shell may be other shapes, such as Circle, it is trapezoidal etc..
In one embodiment, shell has mounting groove, and mounting groove runs through the bottom surface of shell, so that motion arm is moved to from side In mounting groove, and its distal end is located at outside mounting groove, i.e., main body wears mounting groove.
In one embodiment, the arrangement of power part and positional relationship are identical as the arrangement of operation arm body and positional relationship.Example Such as, shell is quadrangle, and the line of multiple power parts is in quadrangle, and the quadrangle has offset relative to the quadrangle of shell, Specifically, each edge all has angle with respect to shell, i.e. each edge surface corresponding with respect to shell all has angle.
Further, in an embodiment, from operation apparatus assembly, including second motion arm, three the first motion arms, When multiple motion arms protrude into internal, the first main body is respectively positioned between the second main body and lesion.
Such as Figure 28 to Figure 32, motion arm 30 includes two groups, and the first motion arm group has multiple motion arms 30, and closes on and set It sets, to protrude into vivo from a notch, the second motion arm group has the second motion arm 32, for obtaining at least the first motion arm group The image of middle motion arm 30, and multiple motion arms in the second motion arm 32 and the first motion arm group in the second motion arm group 30 spaced apart settings.Wherein, spaced apart setting refers to the distance between multiple motion arms 30 in opposite first motion arm group, The distance between two groups of motion arms 30 are larger.
Using it is above-mentioned from operation apparatus assembly when, first by the second motion arm 32 in the second motion arm group protrude into vivo, with Intracorporal image is obtained, is later protruded into the first motion arm group motion arm 30 in vivo from a notch, wherein the first motion arm group Motion arm 30 at least protruding into it is intracorporal during be located at the second motion arm group in the second motion arm 32 the visual field in.This Sample can obtain the better visual field from operation apparatus assembly, and enabling motion arm 30, operating space is bigger during operation, and then enables from behaviour It is more efficient to make apparatus assembly, the scope of application is wider.
It should be noted that also can be omitted the second motion arm group in other embodiments, at this point, can be by peeping in capsule Mirror provides surgical field of view for operator.
In one embodiment, the main body of multiple motion arms 30 closes on setting in the first motion arm group, to protrude into from a notch In vivo, the spaced apart setting of main body of the second main body 321 in the second motion arm group and the first motion arm group motion arm, to provide The better visual field.For example, setting is closed in the proximal end of the first multiple main bodys of motion arm group.For another example, the first multiple main bodys of motion arm group Central region or distal end close on setting.For another example, the distal end of the second main body 321 in the second motion arm group and the first motion arm group In motion arm 30 the spaced apart setting of main body.
In one embodiment, the main body of the first motion arm group motion arm 30 is located at the visual field of the second motion arm group image portion 322 In range.In other embodiments, the end instrument of the motion arm 30 in the first motion arm group, i.e. operation portion 312 and/or image portion 322 are located at the second motion arm group image portion 322 within sweep of the eye, to provide surgical field of view.Alternatively, can also be with the first motion arm The main body and end instrument of group motion arm 30 are respectively positioned in the second motion arm group motion arm 30 in the visual field of image portion 322.
In one embodiment, the second motion arm group motion arm 30 protrudes into vivo from another notch, i.e. the first motion arm group behaviour Make arm 30 and the second motion arm group motion arm 30 protrudes into vivo from different incisions.In this way, multiple motion arms in the first motion arm group 30 protrude into from a notch and are operated in vivo, reduce wound quantity, and the second motion arm 32 in the second motion arm group is It observes the first motion arm group motion arm 30 and the better visual field is provided.In other embodiments, multiple motion arms 30 are from a notch It protrudes into vivo, and the two groups of interval of motion arm 30 settings, so that the second motion arm 32 in the second motion arm group motion arm 30 provides The better visual field.
In one embodiment, as shown in figure 28, the first motion arm group motion arm 30 is the first motion arm 31, from operation equipment Component provides the visual field by the second motion arm group motion arm 30 for operation, enables the operation of the first motion arm group motion arm 30 empty in this way Between it is bigger.In other embodiments, as shown in figure 31, the first motion arm group motion arm 30 includes the first motion arm 31 and the second operation Arm 32, the second motion arm 32 in the first motion arm group, the second motion arm group provide the visual field jointly to perform the operation.In one embodiment, Second motion arm group motion arm 30 is made of second motion arm 32, i.e. only includes one in the second motion arm group motion arm 30 Second motion arm 32.In other embodiments, the second motion arm group motion arm 30 further includes the first motion arm 31.
It should be noted that the arrangement mode of each motion arm can be identical as the various embodiments described above, no longer repeat herein.
It further include mechanical arm from operation apparatus assembly, and the power being set on mechanical arm as shown in Figure 29 to Figure 32 Mechanism, motion arm 30 are driven for being set to power mechanism by power mechanism, and mechanical arm is for adjusting motion arm 30 position and posture.Specifically, mechanical arm includes multiple sequentially connected interconnecting pieces 400, the two neighboring formation of interconnecting piece 400 One joint assembly 500, mechanical arm by adjusting joint assembly 500 state, to change position and the posture of motion arm 30, In, joint assembly 500 changes state finger-type at 400 relative motion of interconnecting piece of the joint assembly 500, so that joint assembly 500 It rotates, along linear slide etc..In other embodiments, power mechanism also can be omitted, can be driven at this time by other structures, For example, motion arm 30 includes driving structure with alternate power mechanism.
In one embodiment, from operation apparatus assembly include: first mechanical arm 11, be set in first mechanical arm 11 first Power mechanism 21, second mechanical arm 12, the second power mechanism 22 being set in second mechanical arm 12, wherein the first motion arm Group motion arm 30 is set on the first power mechanism 21, and the second motion arm group motion arm 30 is set on the second power mechanism 22.
Further, there is first centre of motion, second centre of motion from operation apparatus assembly.Wherein, the first motion arm Group motion arm 30 is moved along first centre of motion, i.e., the posture of the first motion arm group motion arm 30 is adjusted by first mechanical arm 11 And when position, the first motion arm group motion arm 30 is moved along the centre of motion;The second motion arm group motion arm 30 is moved along second The heart, i.e., when adjusting posture and the position of the second motion arm group motion arm 30 by second mechanical arm 12, the operation of the second motion arm group Arm 30 is moved along the centre of motion.Wherein, moving along the centre of motion can both move along a straight line along the centre of motion, or around movement Center rotation, and usually the centre of motion is the incision tract with patient.
If Figure 29 is into Figure 31 illustrated embodiment, first mechanical arm 11 and the relatively independent movement of second mechanical arm 12 are worked as When one of movement of mechanical arm 10 is so that the motion arm 30 being arranged on is moved along the centre of motion, another machine will not influence Tool arm 10 and the position being arranged on and posture, so that two groups of motion arms 30 connecting with two mechanical arms 10 are mutual between each other It does not influence, it is independent to be moved along the respective centre of motion.
In one embodiment, first mechanical arm 11, second mechanical arm 12 all have multiple joint assemblies 500, each mechanical arm At least partly joint assembly 500 links in 10, so that motion arm 30 is moved along the centre of motion, wherein two mechanical arms both can be with Joint assembly is not shared, joint assembly can also be shared, when sharing joint assembly, shared joint assembly is non-cooperating joint Component, so that two mechanical arms 10 move independently of one another at posture and the position for adjusting motion arm 30.Multiple joint assemblies When 500 linkages refer to that any joint changes state in the joint assembly 500 of linkage, other equal roots of joint assembly 500 to link with it Actively change state therewith according to preset rules, so that motion arm 30 is moved along the centre of motion.For example, in embodiment illustrated in fig. 29, Two mechanical arms do not share joint assembly, and each joint assembly 500 links in first mechanical arm 11, respectively close in second mechanical arm 12 Section component 500 links.For another example, partial joint linkage in first mechanical arm 11 and/or second mechanical arm 12.For another example, the first machine Tool arm 11,12 common sparing joint assembly 500 of second mechanical arm, shared joint assembly 500 is not and in two mechanical arms 10 Other joint assemblies 500 linkage.In other embodiments, first mechanical arm 11 and/or second mechanical arm 12 can not also include The joint assembly 500 of linkage, i.e., each joint assembly 500 are independently adjusted.
Further, first mechanical arm 11 is set in first base, and second mechanical arm 12 is set in second base, the One pedestal can self-movement with respect to second base.Wherein, first base and/or second base may be disposed on ground, on wall or Equal fixed region on person's ceiling.In other embodiments, two mechanical arms 10 can also be all set on the same pedestal.
In Figure 30, Figure 31 illustrated embodiment, second mechanical arm 12 is set to the first centre of motion region, so that two machinery The relatively independent movement of arm 10.At this point, motion arm 30 is moved along first centre of motion when being adjusted due to first mechanical arm 11, Therefore, when first mechanical arm 11 is adjusted, the second mechanical arm 12 for being set to the first centre of motion region will not change it Position and posture.
Same as the previously described embodiments, each mechanical arm 10 can make motion arm by cooperating joint component 500 in the present embodiment 30 move along the centre of motion, can not also include the joint assembly 500 of linkage, adjust, no longer repeat independently of one another herein.
In one embodiment, operation apparatus assembly further includes stamp card, and second mechanical arm 12 is for being set to stamp card, so as to set The motion arm 30 being placed in second mechanical arm 12 moves independently of one another with the motion arm 30 for wearing stamp card.The first machine ought be set to When the first motion arm group motion arm 30 on tool arm 11 wears the stamp card, with the second operation being set in second mechanical arm 12 Arm group motion arm 30 moves independently of one another.According to actual needs, it also can be omitted stamp card.
Second mechanical arm 12 and stamp card can have a variety of connection types.For example, the proximal end of second mechanical arm 12 is arranged stamp card. Specifically, stamp card is equipped with annular recess, and the proximal end of second mechanical arm 12 and the annular recess are cooperatively connected.Wherein, on stamp card Be additionally provided with positioning unit, positioning unit be it is multiple, groove setting is closed on, to position during installation to second mechanical arm 12. For another example, the proximal end of second mechanical arm 12 and stamp card clamping, wherein the proximal end of second mechanical arm 12 and stamp card have matched clamping Portion, to be clamped each other.It should be noted that second mechanical arm 12 can be both detachably connected with stamp card, it can also be with stamp card one Body, it is non-dismountable.
Further include clump weight from operation equipment in one embodiment, for being set to stamp card, with to second mechanical arm 12 and Second power mechanism, 22 counterweight.For example, clump weight is arranged stamp card;For another example, clump weight and stamp card clamping;For another example, clump weight is more It is a, it is removably detachably connected between the connection of stamp card and/or multiple clump weights, is set on stamp card with basis each other Mechanical arm 10 weight carry out counterweight.
In other embodiments, first mechanical arm 11 and second mechanical arm 12 dependent can also move each other, i.e., and wherein one The movement of a mechanical arm 10, the state that will lead to another mechanical arm 10 change.
In Figure 32 illustrated embodiment, first mechanical arm 11 and second mechanical arm 12 include multiple joint assemblies 500, and the One mechanical arm 11, second mechanical arm 12 at least share a joint assembly 500, and first mechanical arm 11, second connect in mechanical arm 10 At least partly joint assembly links, and shared joint assembly 500 is cooperating joint component 500, so as to be set to the first machinery Motion arm 30 on arm 11 is moved along first centre of motion, and the motion arm 30 that is set in second mechanical arm 12 is moved along second Heart movement.Each pass in other embodiments, in first mechanical arm 11 in the linkage of each joint assembly 500 and/or second mechanical arm 12 Component 500 is saved to link.
It is above-mentioned from operation apparatus assembly, when first mechanical arm 11 by cooperating joint component 500 adjust when, the motion arm 30 Remaining joint assembly 500 to link with it is adjusted therewith, so that the motion arm 30 being set in first mechanical arm 11 is along The movement of one centre of motion.Since the joint assembly 500 that second mechanical arm 12 and first mechanical arm 11 share both is first mechanical arm A cooperating joint component 500 in 11, and be the joint assembly 500 of a linkage in second mechanical arm 12, therefore when the When one mechanical arm 11 is adjusted, the cooperating joint component 500 of second mechanical arm 12 is adjusted therewith, so as to be set to second Motion arm 30 on mechanical arm 12 is moved along second centre of motion.In this way, when one of mechanical arm 10 is adjusted, in addition The motion arm 30 being arranged on one mechanical arm 10 is still located at the centre of motion.
In one embodiment, when the cooperating joint component 500 of one of mechanical arm 10 is adjusted with another mechanical arm 10 When, on the motion arm 30 that is set to after adjustment on two mechanical arms 10 between relative position remain unchanged.For example, first is mechanical When cooperating joint component 500 in arm 11 is adjusted, the cooperating joint component 500 in second mechanical arm 12 adjusts therewith, i.e., Second mechanical arm 12 is adjusted by cooperating joint component 500 with first mechanical arm 11.For another example, second mechanical arm 12 is adjusted When whole, first mechanical arm 11 follows its adjustment.
In this way, will not influence on another mechanical arm 10 when adjusting the motion arm 30 on one of mechanical arm 10 Motion arm 30 and the relativeness between it, when the two cooperates, for example, second mechanical arm 12 is equipped with the second motion arm 32 for observing motion arm 30 in first mechanical arm 11 when, will not influence the second motion arm 32 in second mechanical arm 12 to the The observation of motion arm 30 on one mechanical arm 11.
Further, first mechanical arm 11 includes sequentially connected first connecting portion 410, second connecting portion 420, the second machine Tool arm 12 includes sequentially connected first connecting portion 410, third interconnecting piece 430, wherein first mechanical arm 11 and second mechanical arm 12 shared first connecting portions 410.In one embodiment, second connecting portion 420 is that multiple and/or third interconnecting piece 430 is multiple. In other embodiments, second connecting portion 420, third interconnecting piece 430 may also be only one.
Specifically, second connecting portion 420, third interconnecting piece 430 are all set in the same first connecting portion 410.For example, Second connecting portion 420, third interconnecting piece 430 are set to the same area of first connecting portion 410;For another example, second connecting portion 420, Third interconnecting piece 430 is set to the different zones of first connecting portion 410.
In other embodiments, when first mechanical arm 11, second mechanical arm 12 share joint assembly 500, second mechanical arm 12 can also follow first mechanical arm 11 passively to adjust, i.e., the joint assembly 500 that second mechanical arm 12 is located at least in distal end carries out Passive adjustment.For example, the notch restriction site that the position for the motion arm 30 being arranged on is worn by it, when adjusting the first machine Motion arm when tool arm 11 drives the motion arm 30 being set in second mechanical arm 12 to move therewith in turn, in second mechanical arm 12 The 30 notch restriction sites worn by it, and then the joint assembly 500 for driving second mechanical arm 12 to be located at distal end is adjusted.Again Such as, it is passive adjusting joint assembly 500 that second mechanical arm 12, which is located at multiple joint assemblies 500 of distal end,.
It should be noted that the structure of each mechanical arm 10 can with application No. is 201810664598.2 Chinese patent applications In relevant mechanical arm structure it is identical, no longer repeat herein.Wherein, first mechanical arm 11, second mechanical arm 12 at least share Joint assembly 500 positioned at proximal end, such as the first joint assembly is shared, for another example, share the first joint assembly, second joint group Part.
Further, first mechanical arm 11, at least one and second mechanical arm 12, the second power in the first power mechanism 21 At least one is connected with the same control unit in mechanism 22.For example, first mechanical arm 11, the first power mechanism 21, the second machine Tool arm 12, the second power mechanism 22 are connected with the same control unit, to enable master operating station that can control two groups of motion arms simultaneously 30 are operated.
If Figure 33 is into Figure 36 illustrated embodiment, second mechanical arm 12 can also be substituted with hanging endoscope 50 and is set to Motion arm 30, the second power mechanism in second mechanical arm 12, wherein hanging endoscope 50 protrudes into body for clipping operation arm 30 Interior incision tract.It should be noted that hanging endoscope 50 both can be with the motion arm 30 that is set in first mechanical arm 11 In the same notch, it can also be located in different incisions.
Hanging endoscope 50 includes: the first clamping part 600, the second clamping part 700, connector 800 and image portion 322. Wherein, connector 800 connects the first clamping part 600, the second clamping part 700, and the first clamping part 600 is for protruding into vivo, and second Clamping part 700 is located in vitro, and for cooperating the first clamping part 600 to clamp incision tract, image portion 322 is set to the first clamping part On 600.
Above-mentioned hanging endoscope 50 clamps the skin in patient body upper cut region by two clamping parts, is suffered from being fixed on On person's body, wherein the connector 800 of hanging endoscope 50 can be located at the stamp card for being set to the incision tract or rubber protection Between set and the skin of incision tract, to enable hanging endoscope 50 is stronger to be set on notch.It is set to incision tract Hanging endoscope 50 by image portion 322 to being observed in vivo.
In one embodiment, connector 800 can adjust the distance between the first clamping part 600 and the second clamping part 700.Example Such as, connector 800 is flexible connecting member 800, adjusts the distance between two clamping parts by bending connector 800.For another example, even Fitting 800 be it is multiple, be detachably connected with two clamping parts, pass through the different connector 800 of connection and adjust two clamping parts The distance between.
In one embodiment, image portion 322 is set to the free end area of the first clamping part 600.For example, image portion 322 is One, positioned at the free end area of the first clamping part 600.For another example, image portion 322 is multiple, and multiple images portion 322 is respectively positioned on the The free end area of one clamping part 600.
In Figure 32, Figure 33 illustrated embodiment, the optical axis and motion arm 30 of hanging 50 image portion 322 of endoscope are protruded into vivo Part formed the first angle.The optical axis of i.e. hanging endoscope 50 and the motion arm 30 being set in first mechanical arm 11 protrude into body Interior part forms the first angle, preferably to provide the visual field for operation.For example, the operation in the optical axis and first mechanical arm 11 The main body of arm 30 forms the first angle.For another example, the end instrument of the motion arm 30 in the optical axis and first mechanical arm 11 forms the One angle.Further, the first angle is acute angle or right angle.For example, the first angle is 40~70 degree.For another example, the first angle is 30~60 degree.
In embodiment as shown in figure 34, the first clamping part 600 has sequentially connected the first noumenon 610 and the second ontology 620, the first noumenon 610 is connected with connector 800, and image portion 322 is set on the second ontology 620, wherein the second ontology 620 form the second angle with the first noumenon 610, to enable the optical axis and the first motion arm group of the image portion 322 of hanging endoscope 50 Motion arm 30 protrudes into intracorporal part and forms the first angle.In the present embodiment, the second angle is obtuse angle, such as the second angle is 100~140 degree.
Further, the opposite the first noumenon 610 of the second ontology 620 is adjustable, to change the second angle.For example, second Body 620 is swingable with respect to the first noumenon 610, to adjust the angle of the second angle.For another example, the second ontology 620 is flexible body, Posture adjustable, to adjust the first angle between the optical axis of image portion 322 and motion arm 30.
In other embodiments, as shown in figure 36, image portion 322 can also be obliquely installed with respect to the first clamping part 600, so that Its optical axis and motion arm 30 form the first angle.
It should be noted that hanging endoscope 50 further includes connection component 300 in an embodiment, connection component 300 will scheme As portion 322 is set on the first clamping part 600, to adjust position and the posture of image portion 322.When it is with connection component 300 When, hanging endoscope 50 further includes hanging 50 power part of endoscope, to be drivingly connected the movement of component 300.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (10)

1. a kind of adjustable motion arm from operation apparatus assembly characterized by comprising
Power mechanism has shell and is set to the intracorporal power part of the shell;
Motion arm, has sequentially connected driving portion, main body and end instrument, and the motion arm is connected with the power mechanism It connects, it is described to change the distance between the main body and the housing sidewall from operation equipment.
2. according to claim 1 from operation apparatus assembly, which is characterized in that the motion arm be it is multiple, it is multiple described Main body protrudes into vivo from a notch, described that the phase that multiple main bodys are located at the incision tract can be changed from operation equipment To position.
3. according to claim 2 from operation apparatus assembly, which is characterized in that multiple main bodys are located at the cutout regions The part in domain is arranged in a row.
4. according to claim 2 from operation apparatus assembly, which is characterized in that the main body includes three, described in three Main body is located at the part distribution triangular in shape of the incision tract.
5. according to claim 2 from operation apparatus assembly, which is characterized in that the main body includes three, described from behaviour Making equipment enables the main body for being located at the incision tract switch to distribution triangular in shape from linear distribution, or from triangular in shape point Cloth switches to linear distribution.
6. according to claim 2 from operation apparatus assembly, which is characterized in that multiple main bodys are protruded into from a notch In vivo, the main body includes four, and four main bodys are located at the part distribution triangular in shape of the incision tract.
7. according to claim 1 from operation apparatus assembly, which is characterized in that the power part is for adjusting the driving The position in portion, to change the relative position between the main body and the housing sidewall.
8. according to claim 7 from operation apparatus assembly, which is characterized in that the relatively described shell of the power part can turn It is dynamic.
9. according to claim 8 from operation apparatus assembly, which is characterized in that the power mechanism further includes interconnecting piece, The interconnecting piece is set on the shell, and the power part is rotatably dispose on the interconnecting piece.
10. a kind of operating robot, which is characterized in that including described in claim 1 to 9 any one from operation equipment group Part and master operating station.
CN201811228482.0A 2018-07-31 2018-10-22 Adjustable motion arm from operation apparatus assembly and operating robot Pending CN109330689A (en)

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CN201811228893.XA Pending CN109330696A (en) 2018-07-31 2018-10-22 It is adjusted from operation apparatus assembly and operating robot
CN201811228482.0A Pending CN109330689A (en) 2018-07-31 2018-10-22 Adjustable motion arm from operation apparatus assembly and operating robot
CN201811228685.XA Active CN109330693B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly and surgical robot
CN201811229155.7A Active CN109330700B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly and surgical robot
CN201811228891.0A Active CN109330695B (en) 2018-07-31 2018-10-22 Slave operation equipment assembly with good adjustability and surgical robot
CN201811228929.4A Pending CN109330697A (en) 2018-07-31 2018-10-22 Minimally Invasive Surgery is from operation apparatus assembly and operating robot
CN201821713034.5U Active CN209790013U (en) 2018-07-31 2018-10-22 minimal access surgery is from operation equipment subassembly and operation robot
CN201821709532.2U Active CN209790012U (en) 2018-07-31 2018-10-22 Slave operation equipment assembly with adjustable operation arm and surgical robot
CN201811228494.3A Active CN109330690B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly and surgical robot
CN201811228880.2A Active CN109330694B (en) 2018-07-31 2018-10-22 Adjustable slave operation equipment assembly and surgical robot
CN201821709493.6U Active CN209253118U (en) 2018-07-31 2018-10-22 The visual field is preferably from operation apparatus assembly and operating robot
CN201811229153.8A Active CN109330698B (en) 2018-07-31 2018-10-22 Slave operating device assembly with endoscope and surgical robot
CN201811228513.2A Active CN109330691B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly with multiple operating arms and surgical robot
CN201811229154.2A Active CN109330699B (en) 2018-07-31 2018-10-22 Mechanical arm, slave operation equipment assembly and surgical robot
CN201821709246.6U Active CN210185692U (en) 2018-07-31 2018-10-22 Adjustable slave operation equipment assembly and surgical robot
CN201811228515.1A Pending CN109330692A (en) 2018-07-31 2018-10-22 The visual field is preferably from operation apparatus assembly and operating robot

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CN201811228685.XA Active CN109330693B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly and surgical robot
CN201811229155.7A Active CN109330700B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly and surgical robot
CN201811228891.0A Active CN109330695B (en) 2018-07-31 2018-10-22 Slave operation equipment assembly with good adjustability and surgical robot
CN201811228929.4A Pending CN109330697A (en) 2018-07-31 2018-10-22 Minimally Invasive Surgery is from operation apparatus assembly and operating robot
CN201821713034.5U Active CN209790013U (en) 2018-07-31 2018-10-22 minimal access surgery is from operation equipment subassembly and operation robot
CN201821709532.2U Active CN209790012U (en) 2018-07-31 2018-10-22 Slave operation equipment assembly with adjustable operation arm and surgical robot
CN201811228494.3A Active CN109330690B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly and surgical robot
CN201811228880.2A Active CN109330694B (en) 2018-07-31 2018-10-22 Adjustable slave operation equipment assembly and surgical robot
CN201821709493.6U Active CN209253118U (en) 2018-07-31 2018-10-22 The visual field is preferably from operation apparatus assembly and operating robot
CN201811229153.8A Active CN109330698B (en) 2018-07-31 2018-10-22 Slave operating device assembly with endoscope and surgical robot
CN201811228513.2A Active CN109330691B (en) 2018-07-31 2018-10-22 Slave operating equipment assembly with multiple operating arms and surgical robot
CN201811229154.2A Active CN109330699B (en) 2018-07-31 2018-10-22 Mechanical arm, slave operation equipment assembly and surgical robot
CN201821709246.6U Active CN210185692U (en) 2018-07-31 2018-10-22 Adjustable slave operation equipment assembly and surgical robot
CN201811228515.1A Pending CN109330692A (en) 2018-07-31 2018-10-22 The visual field is preferably from operation apparatus assembly and operating robot

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CN210185692U (en) 2020-03-27
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CN109330694A (en) 2019-02-15
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CN109330694B (en) 2020-08-21
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CN109330693A (en) 2019-02-15
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CN109330698A (en) 2019-02-15
CN109330690B (en) 2020-06-16
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CN109330690A (en) 2019-02-15
CN209253118U (en) 2019-08-16
CN209790013U (en) 2019-12-17
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CN109330699B (en) 2021-02-19
WO2020024946A1 (en) 2020-02-06
CN109330695A (en) 2019-02-15

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