CN109330692B

CN109330692B - Slave operation equipment assembly with good visual field and surgical robot

Info

Publication number: CN109330692B
Application number: CN201811228515.1A
Authority: CN
Inventors: 王建辰; 请求不公布姓名
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2018-07-31
Filing date: 2018-10-22
Publication date: 2023-08-22
Anticipated expiration: 2038-10-22
Also published as: CN109330690A; CN109330695B; CN109330689A; CN109330695A; CN109330693A; CN109330699A; CN109330691B; CN109330694B; CN109330700B; CN109330691A; CN109330697A; CN109330697B; CN109330700A; CN109330696A; CN210185692U; CN109330690B; WO2020024946A1; CN109330698A; CN209790012U; CN109330693B

Abstract

The invention relates to a slave operation device component with a better visual field and an operation robot, wherein the slave operation device component comprises: the surgical operation device comprises a first operation arm and a second operation arm, wherein the first operation arm is provided with a first main body and an operation part arranged on the first main body, and the operation part is used for executing the surgical operation; the second operation arm is provided with a second main body and an image part arranged on the second main body, and the image part is used for acquiring images of an operation area; the first main body and the second main body are arranged adjacently, so that the first operation arm and the second operation arm extend into the body from one incision, and the operation part is positioned between the image part and the focus.

Description

Slave operation equipment assembly with good visual field and surgical robot

Technical Field

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

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally includes a master console for transmitting control commands to the slave operating devices according to operations of doctors to control the slave operating devices, and the slave operating devices are for responding to the control commands transmitted from the master console and performing corresponding surgical operations.

The slave manipulator has a manipulator for extending into the body and performing the corresponding operation, and the manipulator generally has a manipulator for acquiring an image and a manipulator for performing a surgical operation, and when a plurality of manipulator extend into the body from one incision, the surgical field is greatly affected.

Disclosure of Invention

In view of this, it is necessary to provide a slave manipulator assembly and a surgical robot that have less influence on the surgical field when a plurality of manipulator arms extend into the body from one incision.

A slave operating device assembly, comprising:

a first operation arm having a first main body and an operation portion provided on the first main body, the operation portion being for performing a surgical operation;

a second operation arm having a second body and an image portion provided on the second body, the image portion being for acquiring an image of an operation region;

The first main body and the second main body are arranged adjacently, so that the first operation arm and the second operation arm extend into the body from one incision, and the operation part is positioned between the image part and the focus.

A surgical robot includes the slave operating device assembly and a master operating table.

Drawings

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

FIGS. 2 and 3 are partial schematic views of different embodiments of the present invention from an operating device;

FIGS. 4 and 5 are schematic views of the structure of the operating device according to the present invention in different states;

FIGS. 6 and 7 are schematic views of the structure of the operating device according to the present invention in different states;

FIGS. 8 and 9 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

FIGS. 10 and 11 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

FIGS. 12 and 13 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

FIGS. 14 and 15 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

FIGS. 16 and 17 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

FIGS. 18 and 19 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

FIGS. 20 and 21 are schematic views of the operating arm in the embodiments of FIGS. 18 and 19, respectively;

FIGS. 22 and 23 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

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

FIGS. 25 and 26 are schematic views of the structure of the present invention from different states of an embodiment of the operation device assembly;

FIG. 27 is a schematic view of an embodiment of an arm of the present invention;

FIG. 28 is a partial schematic view of an embodiment of the slave operating device assembly of the present invention;

FIG. 29 is a schematic view showing the construction of an embodiment of the slave operation device assembly according to the present invention;

fig. 30 and 31 are schematic structural views and partial schematic views of an embodiment of the present invention respectively;

FIG. 32 is a schematic view of an embodiment of a slave operating device assembly according to the present invention;

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

fig. 35 and 36 are partial cross-sectional views of various embodiments of the present invention from an operator assembly.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

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

As shown in fig. 1 to 3, the surgical robot includes a master console 1 and a slave operating device 2. Wherein the master console 1 is used for transmitting control commands to the slave operation device 2 according to the operation of a doctor to control the slave operation device 2, and is also used for displaying images acquired by the slave operation device 2. The slave operation device 2 is used for responding to a control command sent from the master operation panel 1 and performing a corresponding operation, and the slave operation device 2 is also used for acquiring an in-vivo image.

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

In one embodiment, the mechanical arm is disposed on a base, and the base is used for being placed on the ground. Further, the base is provided with a moving wheel so as to facilitate the adjustment of the position of the slave operating device. In other embodiments, the base may be disposed on a ceiling or other elevated area to suspend the robotic arm, such as a wall surface sidewall. Alternatively, the base may be provided on an operating table.

In one embodiment, a plurality of operation arms 30 are all disposed on the same power mechanism 20, and distal ends of the plurality of operation arms 30 extend into the body through an incision in the human body, so that the distal instrument 320 moves to the vicinity of the lesion 3 for performing the surgical operation. Specifically, the power mechanism is provided with a plurality of power parts, and each power part is correspondingly connected with an operation arm. In other embodiments, the power mechanism is multiple, each power mechanism 20 is provided with an operation arm 30, and the operation arms extend into the body from a notch, where the power mechanisms 20 may be provided on one mechanical arm 10 or may be provided on multiple mechanical arms 10. It should be noted that the plurality of operation arms 30 may extend into the body from a plurality of incisions, for example, two operation arms may extend into each incision, and for example, one operation arm may extend into each incision.

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

As shown in fig. 4 to 11, there are respectively schematic structural views of different embodiments of the operating device assembly according to the present invention. The slave manipulator assembly includes three manipulator arms 30, the manipulator arms 30 having a body 310 and a distal instrument 320 disposed on the body 310, the plurality of bodies 310 being disposed adjacent to one another such that the bodies 310 of the plurality of manipulator arms 30 extend into the body from one incision.

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

In one embodiment, the plurality of bodies 310 substantially abut in sequence at the cut-out region to make the plurality of bodies 310 more compact. In other embodiments, the plurality of main bodies 310 may be sequentially spaced apart from each other in the incision area, for example, where the distance between two main bodies 310 is 2-100 mm, so as to provide a larger operation space for the slave operation device assembly and a larger operation range for the operation arm 30 in the body. Specifically, the distance between the two bodies may be 5 to 15mm,3 to 10mm,4 to 20mm, or the like. In other embodiments, the plurality of main bodies 310 may partially abut against each other in the incision area, and partially are spaced apart.

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

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

The above-mentioned slave manipulator assembly, due to the plurality of linearly arranged bodies 310, allows the slave manipulator assembly to extend into the body from the strip-shaped incision, thereby allowing the slave manipulator assembly to extend into the body from a narrower region for performing a surgical operation, for example, from between ribs.

The portions of the body 310 of the plurality of operating arms 30 located in the cutout region may also be compactly arranged, and in one embodiment, the plurality of operating arms 30 are arranged in a triangle. For example, in the embodiment shown in fig. 3, the number of the bodies 310 is three, and the three bodies 310 are distributed in a triangle shape, wherein the triangle shape may be an isosceles triangle or an equilateral triangle. As another example, in the embodiment shown in fig. 6 and 7, the operation arm 30 includes four bodies 310 of the four operation arms 30 arranged in a triangle, wherein three bodies 310 are arranged in a straight line and form one side of the triangle, and the other body 310 forms two other sides of the triangle with two bodies 310 located at the edges of the side, respectively. Further, the other two sides of the triangle are identical in length, i.e., the two sides formed by the bodies 310 of the two operating arms 30 are identical in length. As another example, in the embodiment shown in fig. 8 and 9, the operation arms 30 include four bodies 310, three of which are distributed in a triangle shape, and are distributed along the periphery of the other body 310, and three of the bodies 310, which are distributed in a triangle shape, may be evenly distributed along the periphery of the other operation arm 30.

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

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

In one embodiment, the body 310 has substantially the same cross-sectional dimensions at the cut-out region, wherein the dimensions include cross-sectional shape and size. For example, the cross section of the body 310 at the cut-out portion is circular, and the diameters thereof are all the same. In other embodiments, the cross-sectional dimensions of the body 310 at the cut-out region may be uniform or partially uniform. For example, the cross-sectional shape of the body 310 at the incision tract portion is the same size and different. Wherein the plurality of bodies 310 may be sequentially arranged in a straight line according to the size of the cross section. For example, the main bodies 310 are arranged in a small to large size in cross section, specifically, the cross section of the main body 310 at the cut-out area portion is circular, and the plurality of main bodies 310 are arranged in order in diameter size. For another example, the plurality of bodies 310 are arranged in such a manner that the middle is large and the both ends are small in terms of the size of the cross section. For another example, the plurality of bodies may be circular in cross-section at the cut-out region portion, wherein the radius of the cross-section of the portions of the bodies is the same. The cross-sectional specifications of the respective portions of the main body may be the same, or may be at least partially the same, or may be different.

It should be noted that the lengths of the plurality of main bodies may be the same or different to adapt to different requirements.

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

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

In one embodiment, the slave manipulator assembly includes two manipulator portions 312 and an image portion 322, where both manipulator portions 312 are located between the image portion 322 and the lesion (as shown in fig. 3). Wherein, both the operation parts 312 are located between the image part 322 and the focus, which means that when the image part 322 is located at the maximum distance away from the focus, the extreme positions of the operation parts 312 along the same direction are located between the image part 322 and the focus. In this way, when a surgical operation is performed from the operating device assembly, a better field of view can be obtained, and the operating portion 312 has a larger operating space.

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

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

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

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

The plurality of bodies 310 are arranged in the incision area in a manner corresponding to the position and shape of the incisions. Which are identical to the embodiments described above and will not be repeated here. When the body 310 includes the first body 311 and the second body 321, they may be arranged as desired.

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

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

When the main body 310 of the operation arm 30 is arranged in a multi-swatter, in one embodiment, a row far from the focus includes the second main body 321, and the remaining rows may be the first main body 311 or part of the second main body 321.

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

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

In other embodiments, the second operating arm 32 may not be provided in the plurality of operating arms 30 extending from one incision into the body from the operating device assembly, and the second operating arm 32 may extend from another incision into the body to obtain a better field of view. The arrangement of the main bodies of the respective operation arms 30 may be the same as the above embodiments, or the arrangement of the second operation arms 32 may be the same as the arrangement of the first operation arms 31 in the above embodiments.

For example, the number of the first operation arms 31 is three, and the bodies 310 of the three first operation arms 31 are distributed along a straight line. For another example, the four first operating arms 31 are arranged in a triangle shape, and the main bodies 310 of the four operating arms 30 are arranged in a triangle shape, wherein one side of the triangle shape comprises three main bodies 310. As another example, the first operation arms 31 are four, and the main bodies 310 of the three operation arms 30 are distributed in a triangle shape. For another example, the first operation arms 31 are four, three of which are disposed along a straight line, and the other body 310 is located between the first body 311 of the operation arms 30 arranged in a row and the lesion.

The arrangement of the plurality of main bodies 310 and the arrangement of the plurality of end instruments 320 may or may not correspond to each other. The arrangement of the main body 310 may be the arrangement of the main body 310 in the incision area, or the arrangement of the distal end of the main body 310. It should be noted that, for convenience of description, the arrangement of the main body at the incision area is consistent with the arrangement of the main body at the distal end in each embodiment of the present invention, and it should be understood that the arrangement of the main body at the incision area may also be different from the arrangement of the main body at the distal end, but the arrangement of the end instruments connected thereto is consistent with the arrangement of the end instruments in each embodiment.

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

The operation arm 30 further includes a connection assembly 340, two ends of the connection assembly 340 of the first operation arm 31 are respectively connected to the first main body 311 and the operation portion 312, so that the first operation arm 31 adjusts the position and the posture of the operation portion 312 relative to the first main body 311, and two ends of the connection assembly 340 of the second operation arm 32 are respectively connected to the second main body 321 and the image portion 322, so that the second operation arm 32 adjusts the position and the posture of the image portion 322 relative to the second main body 321. The plurality of operation arms 30 may each have the connection unit 340, or only a part of the operation arms 30 may have the connection unit 340.

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

In one embodiment, the adjustment range and/or length of at least two of the connection assemblies 340 are the same. For example, the adjustment range of the plurality of connection assemblies 340 is the same. For another example, when the operation arm 30 includes a plurality of first operation arms 31 and second operation arms 32, the adjustment range and/or length of the connection assemblies 340 on the plurality of first operation arms 31 are the same as the adjustment range and/or length of the connection assemblies 340 on the second operation arms 32. As another example, the adjustment range and/or length of each connection assembly 340 may vary.

In one embodiment, the linkage assembly 340 includes at least four degrees of freedom. One of the degrees of freedom of the linkage assembly 340 allows at least 0 to 300 degrees of rotation of the linked operating arm 30 or the image portion 322. For example, rotated within 90 degrees; for another example, rotate within 180; as another example, rotate within 30 degrees.

It should be noted that, in the above embodiments, the relative positions of the end instruments 320 may be the relative positions of the end instruments 320 when the connection assembly 340 is in the extreme position.

As shown in fig. 12 to 26, there are respectively schematic structural views of different embodiments of the operating device assembly according to the present invention.

The slave operation device assembly includes: the arm 30 and the power mechanism 20 are operated. Wherein the operation arm 30 has a driving part 330, a main body 310 and a distal instrument 320 connected in this order; the power mechanism 20 has a housing 210 and a power portion 220 disposed in the housing 210, where the power portion 220 is connected to a driving portion 330, and is used for driving the end instrument 320 through the driving portion 330, so that the relative position between the main body 310 and the side wall of the housing 210 can be changed by the slave operating device assembly, so as to increase the application range and the flexibility of use of the slave operating device assembly.

In one embodiment, the plurality of manipulator arms 30 are provided in a plurality of bodies 310 extending into the body from a single incision, and the relative positions of the plurality of bodies 310 in the incision tract can be modified from the manipulator assembly. For example, in the embodiment shown in fig. 12 and 13, the body 310 includes three, and the body 310 located in the cutout region is switched from the linear distribution to the triangular distribution or from the triangular distribution to the linear distribution from the operation device assembly. For another example, the distance between the plurality of linearly distributed bodies 310 can be modified from the operating device assembly. The number of the plurality of bodies 310 and the arrangement of the plurality of bodies in the cutout region are the same as those of the above embodiments, and the arrangement of the plurality of bodies can be switched from the operation device to the above embodiments.

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

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

In one embodiment, the power portion 220 is rotatable relative to the housing 210 to adjust the position of the body 310. Specifically, the power mechanism 20 further includes a connection portion 230, the housing 210 has a guide rail 211, the connection portion 230 is disposed on the guide rail 211 and is slidable along with the guide rail 211, and the power portion 220 is rotatably disposed on the connection portion 230 and is rotatable along with the connection portion 230 relative to the housing 210. Further, the extending direction of the guide rail 211 is the same as the rotation axis direction of the power unit 220. Wherein the portion of the main body 310 extending into the cutout region is disposed non-coincident with the rotation axis of the driving portion 330, so that the power portion 220 can change the distance between the portion of the main body 310 and the side wall of the housing 210 when rotating, for example, the main body 310 is disposed in parallel with the rotation axis at a distance.

The above-mentioned slave operation device assembly, the operation arm 30 disposed on the power portion 220 has two degrees of freedom, so that the slave operation device assembly is more flexible, and the application range is wider, and the adjustment is simpler and more convenient by rotating the power portion 220 to adjust the position of the main body 310.

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

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

In an embodiment, the power unit 220 and the operation arm 30 are plural, the operation arm 30 is disposed on the power unit 220 corresponding to the power unit, and the power unit 220 is used for adjusting the main body 310 of the operation arm 30 from the first position to the second position, and the arrangement of the plurality of main bodies 310 in the first position is different from the arrangement in the second position. Wherein, at least part of the body 310 is at a different distance from the side wall of the housing 210 when the first position is at the second position, i.e. when part of the distance is different, there may be a part of the body 310 that is at a constant position when the first position is at the second position, and the distance from the side wall of the housing 210 is unchanged. For example, the body 310 includes three bodies, wherein one body 310 is positioned unchanged, the other two bodies 310 are positioned changed in the first position and the second position, and the three bodies 310 are arranged differently in the first position and the second position. For another example, the body 310 includes three, the positions of the three bodies 310 are changed at the first position and the second position, and the arrangement of the three bodies 310 is changed. In other embodiments, the power unit 220 may move the operating arm 30 to other positions, such as a third position, where the plurality of main bodies 310 are arranged in a different manner from the first position and the second position.

The number of the power units 220 may be the same as that of the operation arms 30, or may be greater than that of the operation arms 30, and the operation arms 30 may be even on the corresponding power units 220 as required.

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

In one embodiment, the portions of the plurality of bodies 310 that are in the cutout region are aligned when in the first position. In the second position, the plurality of bodies 310 are collectively arranged. For example, in the embodiment shown in fig. 12 and 13, the main body 310 includes three main bodies 310A, 310B, and 310C, respectively, and the three main bodies 310 are sequentially arranged along a straight line when located at the first position, and the portions located at the incision area are arranged in a triangle when located at the second position, specifically, the main body 310B is located at a position away from the lesion, and the main bodies 310A and 310C are located between the main body 310B and the lesion. As another example, in the embodiment shown in fig. 16 and 17, the main body 310 includes four main bodies 310A, 310B, 310C and 310D, respectively, and the four main bodies 310 are sequentially arranged along a straight line when located at a first position, and are arranged in a quadrilateral manner when located at a second position, specifically, when located at a second position, the main body 310A is located at a position far from the focus, the main body 310D is located at a position near the focus, and the main bodies 310B and 310C are located between the main bodies 310A and 310D. It should be noted that the arrangement of the plurality of bodies 310 may be arranged in the manner described in the above embodiments, and will not be repeated here.

In one embodiment, in the main bodies 310 of the plurality of operation arms 30, the rotation radii of at least two main bodies 310 are different, so that the plurality of main bodies 310 are arranged in a predetermined manner after rotating. For example, the radius of rotation of the plurality of bodies 310 is different. In other embodiments, the rotation radii of the main bodies 310 of the plurality of driving portions 330 may be the same. The radius of rotation of the body 310 may refer to the radius of rotation of the body 310 at the portion of the incision area, the radius of rotation of the proximal end area of the body 310, or any other radius of rotation where a change in position is desired.

In one embodiment, the distance between the body 310 of the operating arm 30 and the sidewall of the housing 210 is adjusted from the operating device assembly by replacing the operating arm 30 connected to the power part 220. Specifically, in the embodiment shown in fig. 18 and 19, the operation arm 30 has a first position operation arm 33 and a second position operation arm 34, and when the first position operation arm 33 and the second position operation arm 34 are connected to the same power unit 220, the distance between the main body 310 and the side wall of the housing 210 is different. For example, the power part 220 is provided with a power connection pad, the driving part 330 is provided with a driving connection pad 331 connected with the corresponding power connection pad, and as shown in fig. 20 and 21, the distance from the main body 310 of the first position operation arm 33 to the middle region of the driving connection pad 331 is smaller than the distance from the main body 310 of the second position operation arm 34 to the middle region of the driving connection pad 331, wherein the distance from the main body 310 to the middle region of the driving connection pad 331 refers to the distance between the region of the main body 310 of the operation arm 30 located at the cut region portion and the extension line of the middle region of the connection pad. For another example, the distance from the body 310 of the first position operation arm 33 to the middle region of the driving land 331 is greater than the distance from the body 310 of the second position operation arm 34 to the middle region of the driving land 331.

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

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

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

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

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

Further, in one embodiment, the bodies of the same operating arms 30 in the two groups are positioned adjacent to each other, i.e., the bodies of the same operating arms 30 are positioned adjacent to each other when the operating arms 30 in the two groups are in at least one of the positions. For example, in the embodiment shown in fig. 22 and 23, the main bodies 310 of the plurality of operation arms 30 of the slave operation device assembly are arranged in a straight line in the first position, wherein two adjacent operation arms 30A, 30B are not required to be adjusted when the slave operation arms 30 of the slave operation device assembly are replaced with the second position, and the rest of the operation arms 30 are replaced with operation arms 30 having a structure different from that of the first position. In other embodiments, the same operating arms 30 in both sets may be spaced apart, or partially adjacent, and partially spaced apart.

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

In one embodiment, the plurality of operation arms 30 are provided, and the main body 310 of the plurality of operation arms 30 extends into the body from one incision, and the main body 310 can change the arrangement of the parts located in the incision area, wherein the arrangement is the same as that of the above embodiments, and will not be repeated here. In other embodiments, the plurality of operating arms 30 may extend into the body from different incisions through adjustment of the resilient body 310.

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

Further, in one embodiment, the number of through holes is one, and the plurality of main bodies 310 are all inserted through the through holes. In other embodiments, the number of through holes may be plural, where the number of through holes may or may not correspond to the number of the main bodies 310. For example, the number of through holes is the same as the number of the bodies 310, and each body 310 is perforated with one through hole corresponding thereto. For another example, the number of through holes is smaller than the number of main bodies 310, and a part of the main bodies 310 are penetrated by the same through hole. As another example, the number of through holes is greater than the number of main bodies 310, and the main bodies 310 are disposed in the corresponding through holes as needed.

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

In an embodiment, the number of the constraining members 50 may be plural, and the plurality of constraining members 50 may have different through holes, so that one of the constraining members 50 may be selected according to the need during use.

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

Wherein the power section 220 is connected to the operation section 312 from different positions, it is understood that when the driving section 330 has one driving land 331, the power lands 221 connected from the operation arm 30 of the operation device assembly at different positions may be different or the same, i.e., connected to different or the same power lands 221 at different positions, and when connected to the same power lands 221, the driving section 330 is rotated to be mounted to the power section 220 from another angle, thereby positioning the operation arm 30 of the operation device assembly at different positions; when the driving part 330 has a plurality of driving lands 331, the driving lands 331 are at least partially different from each other or are identical, that is, the driving lands 331 are connected to one part of the driving lands 221 in the first position and to the other part of the driving lands 221 in the second position, wherein the two parts of the driving lands 221 may be different from each other (as shown in fig. 25 and 26), may be partially different from each other, or may be identical to each other, and it should be noted that the same driving land 221 may be connected to the same driving land 331 in different positions, or may be connected to different driving lands 331 in different positions.

In one embodiment, the operating arm 30 rotates relative to the power portion 220 to change from the first position to the second position. For example, the operating arm 30 rotates counterclockwise when changing positions, and in the first position and the second position, the power unit 220 is connected to a different driving land 331 at a different position, as is the power land 221 connected to the driving land 331. For another example, the operation arm 30 rotates clockwise when changing the position, and the power section 220 is connected to the same power connection pad 221 as the power connection pad 331 when changing the position between the first position and the second position, and the same power connection pad 221 is connected to the same power connection pad 331 when changing the position.

In other embodiments, the operating arm 30 may also be configured to adjust the distance between the body 310 and the sidewall of the housing 210 in a translational manner. Specifically, the driving portion 330 of the operating arm 30 translates relative to the power portion 220 to change from the first position to the second position.

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

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

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

From the operation device assembly, the plurality of driving parts 330 are disposed with the ends of the main body 310 close to each other and the other ends facing different positions, so as to reduce the installation space required for the plurality of driving parts 330, thereby reducing the volume of the operation device. For example, in the embodiment shown in fig. 22, the other ends of the partial driving portions 330 face opposite directions, the partial faces are the same, and the driving portions 330 facing different directions are staggered. As another example, in the embodiment shown in fig. 23, the other portions of the plurality of driving portions 330 are all oriented differently.

In one embodiment, as shown in fig. 23, the slave operating device assembly includes four operating arms, the driving parts of which have substantially the same specifications, the driving part has two ends with different specifications, wherein the smaller end is provided with the main body, and the two ends are different due to the specifications, so that the driving part has directivity, and the larger end points to the smaller end, wherein the directivity is the direction of the connecting line direction of the two ends. In other embodiments, the specifications of the two ends of the driving portion may be the same, and the directivity is the direction of the connecting line direction of the two ends, and the main body may be disposed at a different end, for example, at a larger end, as required.

Each driving part has an inclined direction relative to the shell, and it can be understood that the connecting line of the two ends has an inclined direction relative to the side surface of the shell, and the extending lines of the inclined directions of the two adjacent driving parts intersect, namely, the connecting lines of the two ends of the two adjacent driving parts intersect, and the extending lines of the inclined directions of the plurality of driving parts do not intersect at one point. In the present embodiment, the inclination directions of the plurality of driving parts form one quadrangular region, for example, a parallelogram, a rectangle, a diamond, or the like. In other embodiments, the inclination directions of the plurality of driving parts may also form a fishbone shape, i.e. the inclination directions of three driving parts intersect with one another. In other embodiments, the inclination directions of the plurality of driving portions may intersect at one point. In this embodiment, the cross section of the driving portion is a bar.

In one embodiment, the cross section of the housing is quadrilateral, the operating arms are four, the main bodies of the operating arms are distributed in quadrilateral, and the two quadrilaterals have offset, namely each side of the quadrilateral formed by the main bodies has an included angle with each side of the quadrilateral of the cross section of the housing. For example, the four driving portions correspond to four sides of the housing, and each driving portion has the same included angle with the corresponding side. For another example, at least some of the four driving portions have different angles with the corresponding side surfaces.

In one embodiment, the arrangement and positional relationship of the power units are the same as the arrangement and positional relationship of the operation arm main body. For example, the casing is quadrilateral, the connecting line of the power parts is quadrilateral, the quadrilateral has offset relative to the quadrilateral of the casing, specifically, each side has an included angle relative to the casing, that is, each side has an included angle relative to the surface corresponding to the casing.

Further, in an embodiment, the slave manipulator assembly includes a second manipulator arm, three first manipulator arms, and the first body is disposed between the second body and the lesion when the plurality of manipulator arms extend into the body.

As shown in fig. 28 to 32, the operation arms 30 include two sets, a first operation arm set having a plurality of operation arms 30 and being disposed adjacent to each other so as to extend into the body from one cutout, a second operation arm set having a second operation arm 32 for capturing an image of at least the operation arms 30 in the first operation arm set, and the second operation arms 32 in the second operation arm set being disposed apart from the plurality of operation arms 30 in the first operation arm set. Wherein the spaced apart arrangement refers to a larger distance between the two sets of operating arms 30 relative to the distance between the plurality of operating arms 30 in the first set of operating arms.

In the above-mentioned slave manipulator assembly, the second manipulator arm 32 of the second manipulator arm set is first extended into the body to acquire an image of the body, and then the first manipulator arm set 30 is extended into the body from an incision, wherein the manipulator arm 30 of the first manipulator arm set is positioned in the field of view of the second manipulator arm 32 of the second manipulator arm set at least during the extension into the body. Thus, the slave operation device assembly can obtain a better visual field, so that the operation space of the operation arm 30 is larger during operation, the efficiency of the slave operation device assembly is higher, and the application range is wider.

In other embodiments, the second operation arm set may be omitted, and the operation field may be provided to the operator by the capsule endoscope.

In one embodiment, the bodies of the plurality of operating arms 30 in the first operating arm set are disposed adjacent to each other to extend into the body from a cutout, and the second bodies 321 in the second operating arm set are disposed at a distance from the bodies of the operating arms of the first operating arm set to provide a better view. For example, the proximal ends of the plurality of bodies of the first operation arm group are disposed adjacently. As another example, the first set of operating arms are disposed adjacent to a central region or distal end of the plurality of bodies. For another example, the distal end of the second body 321 in the second operation arm group is spaced apart from the body of the operation arm 30 in the first operation arm group.

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

In one embodiment, the second arm set 30 extends into the body from another incision, i.e., the first arm set 30 and the second arm set 30 extend into the body from different incisions. In this way, the plurality of arms 30 of the first arm set extend from an incision into the body for performing a surgical procedure, reducing the number of wounds, and the second arm 32 of the second arm set provides a better view of the first arm set of arms 30. In other embodiments, a plurality of operating arms 30 extend into the body from a single incision, and the two sets of operating arms 30 are spaced apart so that the second operating arm 32 of the second operating arm set 30 provides a better view.

In one embodiment, as shown in fig. 28, the first operation arms 30 are all first operation arms 31, and the view from the operation device assembly is provided for the operation through the second operation arms 30, so that the operation space of the first operation arms 30 is larger. In other embodiments, as shown in fig. 31, the first operation arm set 30 includes a first operation arm 31 and a second operation arm 32, and the second operation arms 32 in the first operation arm set and the second operation arm set together provide a view for surgery. In one embodiment, the second arm set 30 is composed of one second arm 32, i.e. the second arm set 30 includes only one second arm 32. In other embodiments, the second manipulation arm set 30 further includes a first manipulation arm 31.

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

As shown in fig. 29 to 32, the slave operation device assembly further includes a mechanical arm, and a power mechanism provided on the mechanical arm, the operation arm 30 is provided on the power mechanism and driven by the power mechanism, and the mechanical arm is used for adjusting the position and posture of the operation arm 30. Specifically, the mechanical arm includes a plurality of connecting portions 400 connected in sequence, two adjacent connecting portions 400 form a joint assembly 500, and the mechanical arm changes the position and the posture of the operating arm 30 by adjusting the state of the joint assembly 500, wherein the state change of the joint assembly 500 refers to the relative movement of the connecting portions 400 forming the joint assembly 500, so that the joint assembly 500 rotates, slides along a straight line, and the like. In other embodiments, the power mechanism may be omitted, and the drive may be performed by other structures, for example, the operating arm 30 includes a drive structure instead of the power mechanism.

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

Further, the slave operating device assembly has a first center of motion, a second center of motion. Wherein, the first operation arm set operation arm 30 moves along the first movement center, that is, when the gesture and position of the first operation arm set operation arm 30 are adjusted by the first mechanical arm 11, the first operation arm set operation arm 30 moves along the movement center; the second operation arm group operation arm 30 moves along the second movement center, that is, when the posture and the position of the second operation arm group operation arm 30 are adjusted by the second mechanical arm 12, the second operation arm group operation arm 30 moves along the movement center. Wherein movement along the center of motion is either linear or rotational about the center of motion and is typically the incision tract on the patient.

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

In an embodiment, each of the first and second mechanical arms 11 and 12 has a plurality of joint assemblies 500, at least a portion of the joint assemblies 500 in each mechanical arm 10 are linked to move the operation arm 30 along the movement center, wherein the two mechanical arms may not share the joint assemblies or may share the joint assemblies, and when the joint assemblies are shared, the shared joint assemblies are non-linked joint assemblies, so that the two mechanical arms 10 move independently of each other when adjusting the posture and the position of the operation arm 30. When any one of the joints 500 of the plurality of joint assemblies 500 linked with the finger changes state, the other joint assemblies 500 linked with the other joint assemblies actively change state according to a preset rule, so that the operation arm 30 moves along the movement center. For example, in the embodiment shown in fig. 29, the two mechanical arms do not share joint assemblies, and each joint assembly 500 in the first mechanical arm 11 is linked, and each joint assembly 500 in the second mechanical arm 12 is linked. For another example, the first mechanical arm 11 and/or the second mechanical arm 12 are partially articulated. As another example, the first and second robot arms 11, 12 share a portion of the joint assembly 500, and the shared joint assembly 500 does not couple with other joint assemblies 500 in the two robot arms 10. In other embodiments, the first mechanical arm 11 and/or the second mechanical arm 12 may not include the joint assemblies 500 that are linked, i.e., each joint assembly 500 is independently adjusted.

Further, the first mechanical arm 11 is disposed on the first base, the second mechanical arm 12 is disposed on the second base, and the first base can move independently relative to the second base. The first base and/or the second base can be arranged on the ground, a wall or a ceiling and other fixed areas. In other embodiments, both mechanical arms 10 may be disposed on the same base.

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

As in the previous embodiments, the mechanical arms 10 in this embodiment can move the operation arm 30 along the movement center by linking the joint assemblies 500, or can be adjusted independently without including the linked joint assemblies 500, which will not be repeated here.

In one embodiment, the operation device assembly further includes a card, and the second mechanical arm 12 is configured to be disposed on the card, so that the operation arm 30 disposed on the second mechanical arm 12 and the operation arm 30 that is configured to pass through the card move independently from each other. That is, when the first manipulation arm set 30 provided on the first manipulator arm 11 is pierced with the punch, it moves independently of the second manipulation arm set 30 provided on the second manipulator arm 12. The stamping card can be omitted according to actual needs.

The second mechanical arm 12 and the card may have various connection manners. For example, the proximal end of the second arm 12 is cannulated with a poking card. Specifically, the stamping card is provided with an annular groove, and the proximal end of the second mechanical arm 12 is connected with the annular groove in a matching manner. The stamping card is further provided with a plurality of positioning units, and the positioning units are arranged close to the grooves so as to position the second mechanical arm 12 during installation. For another example, the proximal end of the second mechanical arm 12 is clamped with the poking clamp, wherein the proximal end of the second mechanical arm 12 and the poking clamp have matching clamping parts to be clamped with each other. The second mechanical arm 12 may be detachably connected to the card, or may be integrated with the card, and not be detachable.

In one embodiment, the slave manipulator further includes a weight for being disposed on the card to weight the second mechanical arm 12 and the second power mechanism 22. For example, the balancing weight is sleeved with a stamping card; for another example, the balancing weight is clamped with the stamp; for another example, the plurality of balancing weights are detachably connected with the stamping card and/or the plurality of balancing weights are detachably connected with each other to perform balancing according to the weight of the mechanical arm 10 arranged on the stamping card.

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

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

In the above-mentioned slave manipulator assembly, when the first manipulator arm 11 is adjusted by the joint assembly 500, the remaining joint assemblies 500 linked with the manipulator arm 30 are adjusted accordingly, so that the manipulator arm 30 provided on the first manipulator arm 11 moves along the first center of motion. Since the joint assembly 500 shared by the second mechanical arm 12 and the first mechanical arm 11 is one joint assembly 500 linked with one of the first mechanical arms 11 and one joint assembly 500 linked with one of the second mechanical arms 12, when the first mechanical arm 11 is adjusted, the joint assembly 500 linked with the second mechanical arm 12 is adjusted accordingly, so that the operation arm 30 arranged on the second mechanical arm 12 moves along the second movement center. Thus, when one of the mechanical arms 10 is adjusted, the operation arm 30 provided on the other mechanical arm 10 is still located at the center of motion.

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

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

Further, the first mechanical arm 11 includes a first connecting portion 410 and a second connecting portion 420 connected in sequence, and the second mechanical arm 12 includes a first connecting portion 410 and a third connecting portion 430 connected in sequence, where the first mechanical arm 11 and the second mechanical arm 12 share the first connecting portion 410. In one embodiment, the second connection portion 420 is plural and/or the third connection portion 430 is plural. In other embodiments, the second connection portion 420 and the third connection portion 430 may be only one.

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

In other embodiments, when the first mechanical arm 11 and the second mechanical arm 12 share the joint assembly 500, the second mechanical arm 12 may also follow the passive adjustment of the first mechanical arm 11, that is, the joint assembly 500 of the second mechanical arm 12 at least located at the distal end performs the passive adjustment. For example, when the first mechanical arm 11 is adjusted to drive the operation arm 30 disposed on the second mechanical arm 12 to move along with the first mechanical arm, the position of the operation arm 30 disposed thereon passes through the incision limiting position, and then the second mechanical arm 12 is driven to adjust the joint assembly 500 disposed at the distal end. For another example, the plurality of joint assemblies 500 of the second arm 12 at the distal end are all passively adjustable joint assemblies 500.

It should be noted that the structure of each robot arm 10 may be the same as that of the robot arm related to the chinese patent application 201810664598.2, and will not be repeated here. The first and second mechanical arms 11 and 12 at least share the joint assembly 500 at the proximal end, for example, share the first joint assembly, and further for example, share the first and second joint assemblies.

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

In the embodiment shown in fig. 33 to 36, the hanging endoscope 50 may be used to replace the second mechanical arm 12, the operation arm 30 disposed on the second mechanical arm 12, and the second power mechanism, wherein the hanging endoscope 50 is used to clamp the incision area where the operation arm 30 extends into the body. The hanging endoscope 50 may be located in the same incision as the operation arm 30 provided to the first mechanical arm 11, or may be located in a different incision.

The hanging endoscope 50 includes: a first clamping portion 600, a second clamping portion 700, a connector 800, and an image portion 322. The connecting piece 800 is connected to the first clamping portion 600 and the second clamping portion 700, the first clamping portion 600 is used for extending into the body, the second clamping portion 700 is located outside the body and is used for matching with the first clamping portion 600 to clamp the incision area, and the image portion 322 is arranged on the first clamping portion 600.

The hanging endoscope 50 clamps the skin of the incision area on the patient's body through two clamping parts so as to be fixed on the patient's body, wherein the connector 800 of the hanging endoscope 50 can be positioned between the poking card or the rubber protective sleeve arranged on the incision area and the skin of the incision area, so that the hanging endoscope 50 is more firmly arranged on the incision. The hanging endoscope 50 provided in the incision area observes the inside of the body through the image portion 322.

In one embodiment, the connector 800 is capable of adjusting the distance between the first clamping portion 600 and the second clamping portion 700. For example, the connector 800 is a flexible connector 800, and the distance between the two clamping portions is adjusted by bending the connector 800. For another example, the plurality of connectors 800 are detachably connected to the two clamping portions, and the distance between the two clamping portions is adjusted by connecting different connectors 800.

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

In the embodiment shown in fig. 32 and 33, the optical axis of image portion 322 of hanging endoscope 50 forms a first angle with the portion of operating arm 30 extending into the body. I.e., the optical axis of the hanging endoscope 50 forms a first angle with the portion of the operating arm 30 provided on the first mechanical arm 11 extending into the body, to better provide a view for surgery. For example, the optical axis forms a first angle with the main body of the operation arm 30 on the first mechanical arm 11. For another example, the optical axis forms a first angle with the end instrument of the manipulator arm 30 on the first manipulator arm 11. Further, the first included angle is an acute angle or a right angle. For example, the first included angle is 40-70 degrees. For another example, the first included angle is 30-60 degrees.

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

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

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

It should be noted that, in one embodiment, the hanging endoscope 50 further includes a connection assembly 300, and the connection assembly 300 sets the image portion 322 on the first clamping portion 600 to adjust the position and the posture of the image portion 322. When having connection assembly 300, hanging endoscope 50 also includes a power section of hanging endoscope 50 to drive movement of connection assembly 300.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A slave operating device assembly having a good field of view, comprising:

the second operation arm is provided with a second main body and an image part arranged on the second main body, and the image part is used for acquiring images; and

The power mechanism comprises a shell and a power part arranged in the shell, and the power part is used for connecting the first operation arm and the second operation arm;

the first main body and the second main body are arranged adjacently, so that the first operation arm and the second operation arm extend into the body from one incision, and the operation part is positioned between the image part and the focus;

the first operation arm and the second operation arm are respectively provided with a driving part, the first main body is arranged on the driving part of the first operation arm, the second main body is arranged on the driving part of the second operation arm, the driving part is provided with two end parts, the first main body or the second main body is arranged in one end part area of the driving part, and the cross section of the driving part is provided with directivity, so that the driving part has an inclined direction relative to the shell.

2. The slave manipulator assembly according to claim 1, wherein the slave manipulator assembly comprises two of the manipulator portions, a plurality of the manipulator portions each being located between the image portion and a lesion.

3. The slave operating device assembly according to claim 2, wherein the slave operating device assembly comprises two first operating arms.

4. A slave manipulator assembly according to claim 3, wherein two of the first bodies are located between the image portion and a lesion.

5. A slave manipulator assembly according to claim 3, wherein two of the first bodies are located between the second body and a lesion.

6. The slave operating device assembly according to claim 2, wherein the image portion is located between two of the operating portions.

7. The slave operating device assembly according to claim 6, wherein the image portion is located in a middle region of both of the operating portions.

8. A slave operating device assembly according to claim 3, wherein the image portion is located between two of the first bodies.

9. The slave operating device assembly according to claim 8, wherein the image portion is located in a middle region between two of the first bodies.

10. A slave operating device assembly according to claim 3, wherein the second body is located between two of the first bodies.

11. The slave operating device assembly according to claim 10, wherein the second body is located in a central region of both of the first bodies.

12. A slave operating device assembly according to claim 3, wherein the distance between two of the first bodies to the second body is the same.

13. The slave operation device assembly according to claim 1, wherein the first operation arm further comprises a connection assembly, both ends of the connection assembly are respectively connected with the first main body and the operation portion, and the first operation arm adjusts the position and the posture of the operation portion relative to the first main body through the connection assembly;

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

14. The slave operation device assembly according to claim 13, wherein the operation portion is located between the image portion and a lesion when the operation portion is in a maximum adjustment range region.

15. The slave operation device assembly according to claim 13, wherein the operation portions include two, and the image portion is located between the two operation portions when a distance between the two operation portions is maximum.

16. The slave operating device assembly according to claim 15, wherein the distance between the two operating portions is maximized and the extreme position of the image portion is located in the middle region of the two operating portions.

17. The slave operating device assembly according to claim 13, wherein the operating portion comprises two, at least two of the connection assemblies being identical in adjustment range and/or length.

18. The slave operation device assembly according to claim 13, wherein the operation part includes two or more operation parts, and the adjustment range and/or length of the connection assembly of the operation parts is the same as the adjustment range and/or length of the connection assembly of the image part.

19. The slave manipulator assembly according to claim 2, wherein a plurality of the manipulator portions and the image portions are arranged in a plurality of rows, and a row distant from the lesion includes the image portions.

20. The slave operation device assembly according to claim 19, wherein a plurality of the operation portions and the image portions are arranged in three rows in a parallelogram distribution.

21. The slave device assembly according to claim 19, wherein a row proximate the lesion includes the image portion.

22. The slave operation device assembly according to claim 19, wherein the arrangement of the first body and the second body in the cut-out region corresponds to the arrangement of the operation portion and the image portion.

23. The slave operating device assembly according to claim 1, wherein the first and second bodies are of a rod structure, and a plurality of the first and second bodies substantially abut each other.

24. The slave operating device assembly according to claim 1, wherein the first and second bodies are flexible bodies.

25. The slave operating device assembly according to claim 1, wherein extension lines of the oblique directions of adjacent two of the driving portions intersect, and extension lines of the oblique directions of a plurality of the driving portions do not intersect at one point.

26. The slave operation device assembly according to claim 25, wherein the slave operation device assembly includes four operation arms, and the inclination directions of the plurality of driving parts form one quadrangular region.

27. The slave operating device assembly according to claim 26, wherein the quadrilateral area is a parallelogram area.

28. The slave operating device assembly according to claim 26, wherein the housing has a quadrilateral cross section, four of the drive portions corresponding to four sides of the housing, each of the drive portions forming an angle with the corresponding side.

29. The slave operating device assembly according to claim 28, wherein the included angles are all the same.

30. The slave operating device assembly according to claim 28, wherein the housing is a symmetrical housing.

31. The slave operation device assembly according to claim 25, wherein the plurality of operation arms are arranged in a quadrangular shape, and the arrangement and positional relationship of the driving portions are the same as those of the operation arm bodies.

32. The slave operating device assembly according to claim 25, wherein the housing has a quadrilateral cross section, the connecting lines of the plurality of bodies are quadrilateral, the quadrilateral is offset relative to the housing, and each side of the quadrilateral is angled relative to the housing and the corresponding side of the quadrilateral.

33. The slave operating device assembly according to claim 1, wherein the diameter of the second body at the cut-out region portion is greater than the diameter of the first body at the cut-out region portion.

34. The slave operating device assembly according to claim 1, wherein the diameter of the second body at the cut-out region portion is smaller than the diameter of the first body at the cut-out region portion.

35. The slave operating device assembly according to claim 1, wherein the diameter of the second body at the cut-out region portion is equal to the diameter of the first body at the cut-out region portion.

36. The slave operating device assembly according to claim 1, wherein a plurality of the first and second bodies are identical in length.

37. The slave operating device assembly according to claim 1, wherein the first body is different from the second body in length.

38. A surgical robot comprising a slave manipulator assembly as claimed in any one of claims 1 to 37, and a master manipulator.