CN109381261B

CN109381261B - Surgical operation arm and surgical operation robot

Info

Publication number: CN109381261B
Application number: CN201710693447.5A
Authority: CN
Inventors: 任洪亮; 李长胜; 顾晓艺; 林水明
Original assignee: Singapore Suzhou Research Institute, National University of; National University of Singapore
Current assignee: Singapore Suzhou Research Institute, National University of; National University of Singapore
Priority date: 2017-08-14
Filing date: 2017-08-14
Publication date: 2022-10-28
Anticipated expiration: 2037-08-14
Also published as: CN109381261A; WO2019035764A1

Abstract

A surgical manipulator includes a support assembly, at least one motion assembly, a bending drive assembly, and an endoscope. The bracket component includes preceding, back supporting seat to and be connected to the crooked subassembly of preceding supporting seat through the bracing piece, wherein, crooked subassembly include with the rear end component that the bracing piece links to each other, and through the pivot with but intermediate member and front end component that rear end component pivot ground connects gradually. Each motion assembly includes a plurality of transmission assemblies arranged in parallel. An elastic screw rod of the transmission assembly slidably penetrates through first through holes respectively formed in the front end component, the middle component and the rear end component. The driving rope of the bending driving assembly can slidably penetrate through the second through holes respectively formed in the front end member and the middle member and is fixedly connected to the rear end member. The driving rope is suitable for driving the front end component, the middle component and the rear end component to rotate relatively, and the elastic screw rod is enabled to deform elastically. The surgical operation arm has the advantages of convenience in operation and high accuracy.

Description

Surgical operation arm and surgical operation robot

Technical Field

The invention relates to the field of surgical medical instruments, in particular to a surgical operation arm and a surgical operation robot applied to minimally invasive surgery of throats.

Background

Laryngeal diseases are common diseases and frequently encountered diseases, and often require surgical treatment, and the common treatment mode is that an endoscope is matched with a surgical instrument for operation. The throat is one of the most complex areas in the human body structure, and has the characteristics of small cavity, deep position, dense nerve vessels and the like, so that higher requirements are put on an operator. The laryngeal surgical robot can overcome the problems that an endoscope two-dimensional image lacks depth sense, instruments are not flexible enough and the like, can effectively reduce operation trauma and bleeding, shortens operation time, enables a patient to recover quickly after an operation, and therefore has wide application prospect.

The existing laryngeal surgical robot system has the defects of large volume, complex mechanism, difficult control, small clamping force, limited working space and the like. For example, n.simaan et al, in published article "a foreign System for Laryngeal Surgery" (IEEE International Conference on Robotics & Automation,2004,1 351-357), propose a smart System for Laryngeal Surgery that uses a serpentine robot that uses a plurality of elastic tubes as flexible supports, achieves bending of the tool tip through a push-pull mode, and converts translation of parallel fixation means into rotation of the serpentine tip gripper. The end rotation of such a robot is achieved entirely by the elastic tube bending, with a large bending radius. Furthermore, mcLeod IK et al, in the published paper "positional Applications of the Da Vinci Minimally Invasive Surgical System in Otolarynggology" ("Ear Nose & Throat Journal, 2005, 84 (8): 483-487), mention the use of Da Vinci Surgical robot for laryngeal surgery, which includes two multi-degree-of-freedom gripping mechanisms for operation, by cooperating with a laryngoscope to obtain visual information of a lesion site, surgical operation is performed in a master-slave manner. However, such a robot is bulky, and it is difficult to quickly position the gripping mechanism, and at the same time, the tip is likely to interfere during movement.

Disclosure of Invention

Based on this, it is necessary to provide a surgical operation arm based on a plurality of parallel elastic screw rod driven transmission members and a surgical operation robot using the surgical operation arm, which are especially suitable for assisting a surgeon in performing a laryngeal operation, aiming at the disadvantages of inconvenient operation and low precision of the existing surgical operation robot, especially the laryngeal operation robot.

In one aspect of the present invention, a surgical manipulator arm is provided. The surgical manipulator comprises:

a bracket assembly, comprising: the bending assembly comprises a rear end component connected with the supporting rod, and a middle component and a front end component which are connected with the rear end component in sequence in a pivoting way through a rotating shaft;

the device comprises at least one motion assembly, a plurality of driving assemblies and a plurality of connecting assemblies, wherein each motion assembly comprises a connecting flange and a plurality of driving assemblies which are connected with the connecting flange and arranged in parallel, each driving assembly comprises a first screw rod assembly, an elastic screw rod, a universal coupling and a flange connecting rod, the first screw rod assembly is connected to one end of the elastic screw rod, the other end of the elastic screw rod is connected to one end of the flange connecting rod through the universal coupling, the other end of the flange connecting rod is connected to one end face of the connecting flange, and the other end face of the connecting flange is suitable for mounting surgical instruments;

a bending driving assembly including a second screw assembly and a driving rope, wherein the second screw assembly is connected to one end of the driving rope, and the other end of the driving rope is fixedly connected to the front end member; and

an endoscope fixedly connected to the front end member;

wherein the first screw assembly of the transmission assembly and the second screw assembly of the bending drive assembly are connected to the front support mount and the rear support mount, respectively, and are axially reciprocable relative to the front support mount and the rear support mount;

the front end member, the middle member and the rear end member are respectively provided with a first through hole through which the elastic screw rod of the transmission assembly can slidably pass, and the front end member, the middle member and the rear end member are also respectively provided with a second through hole through which the driving rope of the bending driving assembly can slidably pass;

when the second screw rod assembly of the bending driving assembly moves backwards relative to the front supporting seat and the rear supporting seat, the driving rope is suitable for driving the front end component, the middle component and the rear end component to rotate relatively, and the elastic screw rod is enabled to generate elastic deformation.

In one embodiment, the surgical manipulator arm includes two motion assemblies arranged in parallel.

In one embodiment, each motion assembly includes three drive assemblies arranged in parallel.

Preferably, the elastic screw rod of the transmission assembly is a cylindrical screw rod with restorable elasticity.

Preferably, the drive cord of the bending drive assembly is a flexible cord.

Preferably, the front end member, the middle member and the rear end member are each a block structure with a plurality of through holes.

In one embodiment, the first screw assembly of the transmission assembly comprises a first screw, a first connecting piece and a first screw connecting rod, the first screw is connected to one end of the first screw connecting rod through the first connecting piece, and the other end of the first screw connecting rod is connected to the elastic screw rod of the transmission assembly; the second screw assembly of the bending driving assembly comprises a second screw, a second connecting piece and a second screw connecting rod, the second screw is connected to one end of the second screw connecting rod through the second connecting piece, and the other end of the second screw connecting rod is connected to the driving rope of the bending driving assembly.

In one embodiment, the front supporting seat defines a third through hole for the first screw rod connecting rod of the first screw assembly to slidably pass through, and the front supporting seat further defines a fourth through hole for the second screw rod connecting rod of the second screw assembly to slidably pass through; the rear supporting seat is provided with a first threaded hole through which the first screw of the first screw assembly passes and is in threaded connection with the first screw, and the rear supporting seat is further provided with a second threaded hole through which the second screw of the second screw assembly passes and is in threaded connection with the second screw.

Preferably, the front support seat and the rear support seat are both block-shaped structures with a plurality of through holes.

Compared with the prior art, the surgical operation arm has the advantages of convenient operation and high precision, and is particularly suitable for assisting a surgeon in performing laryngeal surgery. Specifically, the motion assembly of the surgical operation arm adopts a parallel mechanism, namely a plurality of transmission assemblies arranged in parallel, and has the advantages of high positioning precision and large output force compared with the traditional serial mechanism. In addition, this surgical operation arm adopts elastic screw to transmit power, and the parallel mechanism of cooperation has reduced the terminal bending radius of operation arm, makes the terminal surgical instruments who is connected rather than operate more nimble in narrow and small space. Under the condition that the surgical operation arm is provided with two motion components, the motion with 7 degrees of freedom can be realized, so that the requirement of operating the surgical operation arm to carry out operation at the throat position of a human body can be met.

In another aspect of the invention, a surgical robot is provided. The surgical robot includes the surgical manipulator of the above aspect, a surgical instrument, a power source, a controller, and a display device. The surgical instrument is mounted to the connection flange of the surgical manipulator arm; the power source is connected to the screw of the surgical manipulator for driving the screw; the controller is configured to control operation of the power source; the display device is connected to the endoscope and is used for displaying the images collected by the endoscope.

According to the surgical robot of the above aspect, different surgical instruments, such as a surgical forceps for throat, a surgical scissors, a sintering tool, etc., can be arranged on the end face of the connecting flange of the surgical manipulator according to the surgical requirements. The surgical robot can work deep into the throat of a human body, and the end surgical instrument has a large working space.

Drawings

FIG. 1 is a schematic structural view of a surgical manipulator according to one embodiment of the present invention;

FIG. 2 is a schematic view of a bracket assembly of the surgical manipulator of FIG. 1;

FIG. 3 is a schematic structural view of a front end member of the carriage assembly shown in FIG. 2;

FIG. 4 is a schematic structural view of an intermediate member of the bracket assembly shown in FIG. 2;

FIG. 5 is a schematic structural view of a rear end member of the bracket assembly shown in FIG. 2;

FIG. 6 is a schematic structural view of a support bar block of the rack assembly shown in FIG. 2;

FIG. 7 is a schematic view of a front support of the rack assembly shown in FIG. 2;

FIG. 8 is a schematic structural view of a rear support base of the rack assembly shown in FIG. 2;

FIG. 9 is a schematic structural view of a connecting plate of the bracket assembly shown in FIG. 2;

FIG. 10 is a schematic illustration of the kinematic assembly of the surgical manipulator arm shown in FIG. 1;

FIG. 11 is a schematic structural view of a transmission assembly of the motion assembly shown in FIG. 10;

FIG. 12 is a schematic structural view of a transmission assembly of the motion assembly shown in FIG. 10;

FIG. 13 is a schematic structural view of a flanged connection rod of the transmission assembly shown in FIG. 12;

FIG. 14 is a schematic structural view of a universal joint of the transmission assembly shown in FIG. 12;

FIG. 15 is a schematic structural view of an elastic lead screw of the transmission assembly shown in FIG. 12;

FIG. 16 is a schematic view of the screw assembly of the drive assembly of FIG. 12;

FIG. 17 is a schematic view of the screw connecting rod of the screw assembly shown in FIG. 16;

FIG. 18 is a schematic view of the connection of the screw assembly of FIG. 16;

FIG. 19 is a schematic view of the screw assembly of FIG. 16;

FIG. 20 is a schematic illustration of the flexure drive assembly of the surgical manipulator arm of FIG. 1;

FIG. 21 is a schematic view of the construction of the drive cords of the bending drive assembly shown in FIG. 20;

FIG. 22 is a schematic view of the endoscope of the surgical manipulator arm of FIG. 1;

FIG. 23 is a structural view of a bracket assembly of the surgical manipulator arm of FIG. 1 in a flexed configuration;

FIG. 24 is a schematic view of the kinematic assembly of the surgical manipulator arm of FIG. 1 in a flexed state;

FIG. 25 is a schematic view of the surgical arm of FIG. 1 in position in a human throat.

Description of the reference numerals

100: a bracket assembly;

101: a front end member;

103: an intermediate member;

105: a rear end member;

120: a support bar;

131: a front support base;

133: a rear support base;

140: a connecting plate;

151A, 151B, 151C, 151D, 151E, 151F: a first through hole;

152: a second through hole;

153A, 153B, 153C, 153D: mounting holes;

154A, 154B, 154C, 154D, 154E, 154F: a third through hole;

155: a fourth via hole;

156A, 156B, 156C, 156D, 156E, 156F: a first threaded hole;

157: a second threaded hole;

200: a motion assembly;

210: a connecting flange;

220: a transmission assembly;

221: a flange connecting rod;

223: a universal coupling;

225: an elastic screw rod;

227: a first screw assembly;

2271: a screw connecting rod;

2273: a connecting member;

2275: a screw;

300: a bending drive assembly;

310: a drive rope;

320: a second screw assembly;

400: an endoscope.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.

It will be understood that when a feature or element is referred to herein as being "on" another feature or element, it can be directly on the other feature or element or intervening features and/or elements may also be present. In contrast, when a feature or element is referred to as being "directly on" another feature or element, there are no intervening features and/or elements present. It will also be understood that when a feature or element is referred to as being "connected" to another feature or element, it can be directly connected to the other feature or element or intervening features and/or elements may be present. In contrast, when a feature or element is referred to as being "directly connected" to another feature or element, there are no intervening features and/or elements present.

Spatially relative terms, such as "below … …", "above … …", "after … …", "before … …", and the like, may be used herein to facilitate describing the relationship of one element or feature to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "behind" other elements or features would then possibly be oriented "before" the other elements or features. Thus, the exemplary term "behind" can encompass both a rearward and forward direction. The device may be oriented in distinct directions (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. Similarly, terms such as "forwardly", "rearwardly", "upwardly", "downwardly", and the like, as used herein, are for purposes of illustration only, unless otherwise specifically indicated.

Although the terms "first" and "second" may be used herein to describe various features/elements, these features/elements are not limited by these terms unless otherwise specifically indicated. These terms may be used to distinguish one feature/element from another feature/element. Thus, a first feature/element described below may be termed a second feature/element, and similarly, a second feature/element described below may also be termed a first feature/element, without departing from the scope of the present invention.

FIG. 1 is a schematic view of a surgical manipulator according to one embodiment of the present invention. As shown, the surgical arm includes a carriage assembly 100, two

motion assemblies

200A, 200B arranged in parallel, a bending drive assembly 300, and an endoscope 400. Although the present embodiment has two moving

assemblies

200A, 200B, it will be appreciated by those skilled in the art that in other embodiments there may be only one moving assembly, or three or more moving assemblies. The carriage assembly is adapted to support the motion assembly, the bend drive assembly and the endoscope. The motion assembly is used for performing surgical operations at the distal end of the surgical manipulator, and a plurality of surgical operations can be performed at the distal end of the surgical manipulator using more than two motion assemblies. The endoscope 400 shown in fig. 22 is used to collect image information and may be any suitable endoscope available on the market.

As shown in fig. 2-9, the rack assembly 100 includes a front end member 101, three intermediate members 103, a rear end member 105, four support rods 120, a front support mount 131, a web 140, and a rear support mount 133. The front end member 101, the three intermediate members 103, and the rear end member 105 are arranged in series in a stacked manner and adjacent two bending modules are pivotably connected by a rotating shaft. Although three intermediate members 103 are employed in the present embodiment, it will be appreciated by those skilled in the art that one intermediate member, two intermediate members, or more than three intermediate members may be employed in other embodiments. The rear end member 105 is fixedly connected to the front support base 131 by four support rods, and both the front support base 131 and the rear support base 133 are fixedly connected to the link plate 140. Although four support rods 120 are used in the present embodiment, it will be appreciated by those skilled in the art that any number of support rods may be used so long as a spaced fixed connection between the rear end member 105 and the front support base is achieved.

As shown in fig. 10-15, each motion assembly 200 includes a connecting flange 210 and three transmission assemblies 220 arranged in parallel. Although three transmission assemblies 220 are used in the present embodiment, it will be appreciated by those skilled in the art that in other embodiments, one transmission assembly, two transmission assemblies, or more than three transmission assemblies may be used. Each transmission assembly 220 includes a flange connection rod 221, a universal joint 223, an elastic lead screw 225, and a first screw assembly 227. The first screw assembly 227 is connected to one end of the elastic screw rod 225 by conventional connection means such as welding, snap connection, screw connection, and adhesion, the other end of the elastic screw rod 225 is connected to one end of the flange connecting rod 221 by the universal coupling 223, the other end of the flange connecting rod 221 is connected to one end face of the connecting flange 210 by conventional connection means such as welding, snap connection, screw connection, and adhesion, and the other end face of the connecting flange 210 is suitable for mounting surgical instruments. In this embodiment, the flange connecting rods 221 of the three transmission assemblies 220 are respectively and fixedly connected with the connecting holes formed in the connecting flange 210. The connection flange 210 is a disk-shaped structure having a plurality of mounting holes, which is used for connecting surgical instruments in addition to the flange connection rod 221. The elastic screw 225 is a cylindrical screw having restorable elasticity and is elastically deformable by a radial force. The flange connection rod 221 is a rod-like structure that is used to support the motion assembly. The universal coupling 223 is any suitable commercially available universal coupling and may be of any suitable type of construction, for example, spider, rzeppa, spider, nub, ball pin, ball hinge plunger, tripod, trident, tripod, hinge, etc.

As shown in fig. 16-19, the first screw assembly 227 includes a screw connecting rod 2271, a connector 2273, and a screw 2275. The screw 2275 is connected to one end of a screw connecting rod 2271 through a connecting member 2273, and the other end of the screw connecting rod 2271 is connected to the elastic screw rod 225. The screw connecting rod 2271 is a rod-shaped structure having a step at one end and flat surfaces at both sides, and is used for transmitting power. The connecting member 2273 is a columnar structure having through holes and stepped holes at both ends thereof, respectively, and has both ends thereof for connecting the screw connecting rod 2271 and the screw 2275, respectively. Screw 2275 is any suitable commercially available screw for converting rotary motion at one end (input end) to linear motion at the other end (output end). The input end of the screw 2275 is connected to a power source such as a motor, and the output end of the screw 2275 is connected to the connecting member 2273. Rotation of the screw 2275 will result in reciprocating movement of the screw 2275 in a straight line, the reciprocating movement of the screw 2275 being transmitted through the connector 2273 to the screw connecting rod 2271, so that the screw connecting rod 2271 also has reciprocating movement in a straight line. The connector 2273 limits the rotation of the screw connecting rod 2271.

As shown in fig. 20-21, the bending drive assembly 300 includes a drive cable 310 and a second screw assembly 320. The second screw assembly 320 is connected to one end of the driving rope 310, and the other end of the driving rope 310 is fixedly connected to the front end member 101 of the bracket assembly 100. The drive rope is a flexible rope available on the market. The second screw assembly 320 may be configured similarly to the first screw assembly 227. In this embodiment, the structure and function of the second screw assembly 320 are completely the same as those of the first screw assembly 227, and are not described herein again.

Referring again to fig. 3-5, the front end member 101, the intermediate member 103, and the rear end member 105 have similar structures and are each a block-like structure with a plurality of through-holes. The front end member 101 is opened with first through

holes

151A, 151B, 151C, 151D, 151E, and 151F, and a second through hole 152, and the intermediate member 103 and the rear end member 105 are also opened with first and second through holes at positions corresponding to the first and second through holes of the front end member 101. The elastic lead screws 225 of the respective six transmission assemblies 220 of the two moving assemblies 200 slidably pass through the first through

holes

151A, 151B, 151C, 151D, 151E and 151F of the rear end member 105, the intermediate member 103 and the front end member 101, respectively, in this order. The drive cord 310 of the flexion drive assembly 300 slidably passes through the second through-holes 152 of the rear end member 105, the intermediate member 103, and the front end member 101 in that order. The end of the driving rope 310 passing through the second through hole 152 of the front end member 101 may be connected to the stopper such that the end of the driving rope 310 remains fixed with respect to the front end member 101. Alternatively, the end of the drive cord 310 may be secured directly in the second through hole 152 of the front end member 101. When the driving rope 310 is pulled backward, the driving rope 310 is adapted to drive the front member 101, the middle member 103 and the rear member 105 to rotate relatively around the corresponding rotation shafts, so as to cause the elastic screw rod passing through the first through hole to be elastically deformed. The front end member 101 is also used to fix the endoscope 400. The connection of the front end member 101 to the endoscope 400 is not shown, however, it will be understood by those skilled in the art that the endoscope 400 may be fixed to the front end member 101 by any suitable means customary in the art, such as gluing, snap-fitting, screwing, etc., and will not be described in detail herein. The rear end member 105 is further provided with mounting

holes

153A, 153B, 153C, and 153D for connecting one ends of the four support rods 120, respectively.

Referring to fig. 7, the front supporter 131 is also a block structure with a plurality of through holes. The front support 131 is formed with mounting

holes

153A, 153B, 153C, 153D corresponding to the mounting holes in the rear member 105 for connecting the other ends of the four support rods 120, respectively. The front support 131 is opened with third through

holes

154A, 154B, 154C, 154D, 154E, and 154F, and a fourth through hole 155. The screw connecting rods 2271 of each of the six transmission assemblies 220 of the two motion assemblies 200 slidably pass through the third through

holes

154A, 154B, 154C, 154D, 154E and 154F of the front support bracket 131, respectively. The screw connecting rod of the bending drive assembly 300 slidably passes through the fourth through-hole 155 of the front support bracket 131.

Referring to fig. 8, the rear supporter 133 is also a block structure with a plurality of through holes. The rear support 133 defines first threaded

holes

156A, 156B, 156C, 156D, 156E, and 154F, and a second threaded hole 157. The threaded rods 2275 of the respective six transmission assemblies 220 of the two kinematic assemblies 200 pass through the first threaded

holes

156A, 156B, 156C, 156D, 156E and 154F and are threadedly coupled with these first threaded

holes

156A, 156B, 156C, 156D, 156E and 154F, respectively. The screw of the bending driving assembly 300 passes through the second threaded hole 157 and is threadedly coupled with the second threaded hole 157. The screws of the kinematic assembly 200 and the bending drive assembly 300 are each rotatable in a respective threaded hole under the driving force of the power source.

The screw assemblies of the transmission assembly 220 and the bending drive assembly 300 are supported by the front support block 131 and the rear support block 133, respectively, and are axially reciprocable relative to the front support block 131 and the rear support block 133. The screw of the screw assembly is in threaded fit with the threaded hole of the rear support 133, and the screw connecting rod of the screw assembly is in slidable fit with the fourth through hole of the front support. The screw is driven by a power source such as an electric motor to rotate so that the screw axially reciprocates relative to the rear support 133, and at this time, the screw link rod axially reciprocates relative to the front support 131. The connection connecting the screw and the screw connection rod allows rotation of the screw but restricts rotation of the screw connection rod. The axial reciprocating motion of the screw connecting rod correspondingly drives the axial reciprocating motion of the elastic screw rod or the driving rope connected with the screw rod connecting rod.

Fig. 23 is a structural view showing the bracket assembly of the surgical manipulator in a bent state. When the screw of the second screw assembly 320 of the bending drive assembly 300 is rotated such that the second screw assembly 320 is translated rearward with respect to the front support 131 and the rear support 133 as a whole, the drive cord 310 connected to the second screw assembly 320 is pulled rearward, and relative rotational movement is performed between the front member 101 and the intermediate member 103, between the intermediate member 103, and between the intermediate member 103 and the rear member 105 by the drive cord 310. At this time, the front, middle and

rear members

101, 103 and 105, which are originally aligned, are bent, and the elastic lead screws 225 of the respective transmission assemblies 220, which are restricted in the respective through holes of the front, middle and

rear members

101, 103 and 105, are bent and deformed by the radial force. The elastic lead screw 225 can also be made to axially reciprocate along the respective through holes of the front end member 101, the intermediate member 103, and the rear end member 105 by rotating the screw of the first screw assembly 227 of the transmission assembly 220. During the reciprocating motion, the end of the moving member 200 is axially translated or radially bent along the connecting flange 210, thereby achieving 3 degrees of freedom of motion for each moving member.

Fig. 24 shows a schematic view of the moving assembly of the surgical manipulator in a flexed position. In the case where the front end member 101, the intermediate member 103, and the rear end member 105 are not relatively rotated and are bent, if the same driving force is applied to the three transmission assemblies 220 of the same moving assembly 200, the axial translation of the connecting flange 210, that is, the translation movement of one degree of freedom, can be achieved. In contrast, if different driving forces are applied to the three transmission assemblies 220 of the same motion assembly 200, the universal joints 223 in the three transmission assemblies 220 will rotate to different degrees, so that the end of the motion assembly 200 bends toward the transmission assembly side to which the driving force is applied less, as shown in fig. 24, and the larger the difference in the driving force between the transmission assemblies is, the larger the bending degree is. Therefore, by controlling the power source to apply different driving forces to the three transmission assemblies 220, the connecting flange 210 can be bent towards different sides and have different bending degrees, and the movement of the connecting flange 210 in two bending degrees of freedom perpendicular to each other is realized.

The invention also provides a surgical robot. The surgical robot comprises the surgical operation arm, a surgical instrument, a power source, a controller and a display device. Attachment flanges for attaching surgical instruments (not shown) to the surgical manipulator arms, including laryngeal forceps, surgical scissors, sintering tools, etc.; a power source (not shown) is connected to each screw of the surgical manipulator for driving the screw to rotate; a controller (not shown) is configured to control operation of the power source; a display device (not shown) is connected to the endoscope for displaying images captured by the endoscope. The surgical robot is particularly suitable for laryngeal surgery, and the working mode of the surgical robot is as follows: placing the end of the surgical manipulator arm with the surgical instrument mounted thereon in the patient's larynx; rotating the screw of the second screw assembly 320 of the bending driving assembly 300 to bend the bracket assembly 100, thereby causing the motion assembly 200 to also bend and simultaneously advancing the surgical robot until the surgical instrument of the surgical robot reaches the focal position (fig. 25 shows a schematic view of the surgical operation arm in the throat of the human body); observing the position state of the lesion by the endoscope 400 in combination with a display device, rotating the screw of the first screw assembly 227 of the motion assembly 200, and changing the end pose of the motion assembly 200, thereby changing the pose of the surgical instrument; the two motion assemblies 200A and 200B are mutually matched to carry out operation; after the operation is completed, the screws of the second screw assembly 320 of the bending driving assembly 300 and the first screw assembly 227 of the moving assembly 200 are rotated reversely with respect to the aforementioned operation, so that the bending of the stand assembly 100 and the moving assembly 200 is restored while moving the surgical robot backward until the surgical robot is completely withdrawn from the throat region of the patient.

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

Claims

1. A surgical manipulator arm comprising:

a bracket assembly, comprising: the bending assembly comprises a front supporting seat, a rear supporting seat connected to one end of the front supporting seat through a connecting plate, and a bending assembly connected to the other end, opposite to the rear supporting seat, of the front supporting seat through a supporting rod, wherein the bending assembly comprises a rear end member connected with the supporting rod, and an intermediate member and a front end member which are sequentially connected with the rear end member in a pivoting manner through a rotating shaft;

an endoscope fixedly connected to the front end member;

the front end component, the middle component and the rear end component are respectively provided with a first through hole for the elastic screw rod of the transmission assembly to slidably pass through, and the front end component and the middle component are respectively provided with a second through hole for the driving rope of the bending driving assembly to slidably pass through;

when the second screw assembly of the bending driving assembly moves backwards relative to the front supporting seat and the rear supporting seat, the driving rope is suitable for driving the front end component, the middle component and the rear end component to rotate relatively, so that the elastic screw rod is elastically deformed.

2. The surgical manipulator arm of claim 1, comprising two motion assemblies arranged in parallel.

3. The surgical manipulator arm of claim 1, wherein each motion assembly includes three transmission assemblies arranged in parallel.

4. The surgical manipulator arm according to claim 1, wherein the elastic lead screw of the transmission assembly is a cylindrical lead screw having recoverable elasticity.

5. The surgical manipulator arm of claim 1, wherein the drive cord of the bending drive assembly is a flexible cord having flexibility.

6. The surgical manipulator arm of claim 1, wherein the front member, the intermediate member, and the rear member are each a block-like structure with a plurality of through-holes.

7. The surgical manipulator arm according to claim 1, wherein the first screw assembly of the transmission assembly includes a first screw, a first connector, and a first screw connecting rod, the first screw being connected to one end of the first screw connecting rod by the first connector, the other end of the first screw connecting rod being connected to the elastic screw rod of the transmission assembly; the second screw assembly of the bending driving assembly comprises a second screw, a second connecting piece and a second screw connecting rod, the second screw is connected to one end of the second screw connecting rod through the second connecting piece, and the other end of the second screw connecting rod is connected to the driving rope of the bending driving assembly.

8. The surgical arm of claim 7, wherein the anterior support base defines a third through-hole for slidably passing the first screw connecting rod of the first screw assembly therethrough, the anterior support base further defining a fourth through-hole for slidably passing the second screw connecting rod of the second screw assembly therethrough; the rear supporting seat is provided with a first threaded hole through which the first screw of the first screw assembly passes and is in threaded connection with the first screw, and the rear supporting seat is further provided with a second threaded hole through which the second screw of the second screw assembly passes and is in threaded connection with the second screw.

9. The surgical manipulator arm of claim 1, wherein the front support mount and the rear support mount are each block-like structures with a plurality of through-holes.

10. A surgical robot, comprising:

the surgical manipulator of any of claims 1 to 9;

a surgical instrument mounted to the connection flange of the surgical manipulator arm;

a power source connected to the screw of the surgical manipulator arm for driving the screw;

a controller configured to control operation of the power source; and

a display device connected to the endoscope for displaying images captured by the endoscope.