CN109893178A

CN109893178A - For executing the surgery system through natural cavity endoscopic surgery

Info

Publication number: CN109893178A
Application number: CN201811340429.XA
Authority: CN
Inventors: 杨重光
Original assignee: Hong Kong Biomedical Engineering Co Ltd
Current assignee: Hong Kong Biomedical Engineering Co Ltd
Priority date: 2016-11-01
Filing date: 2017-08-18
Publication date: 2019-06-18
Also published as: CN107485415A

Abstract

Example embodiment be related to include end effector assembly and arm component surgery system.End effector assembly may include the first device assembly, and the first device assembly has the first instrument and the first instrument driven portion, and the first instrument driven portion is configured to be actuated to move the first instrument relative to first axle.Arm component may include the first and second arm component ontologies, the first arm component coupling part for coupling the first and second arm component ontologies, the first instrument drive assembly and the first arm component driving assembly.First instrument drive assembly may include the first integrated motor and the first instrument drive part, and the first instrument drive part can be driven the first instrument driven portion by the first integrated motor control.First arm component driving assembly may include the second integrated motor and the first arm component drive part, and the first arm component drive part can be driven the first arm component ontology to move relative to the second arm component ontology by the second integrated motor control.

Description

For executing the surgery system through natural cavity endoscopic surgery

The application be the Chinese Patent Application No. submitted on the 18th of August in 2017 be 201710714234.6, it is entitled The divisional application of the application for a patent for invention of " for executing the surgery system through natural cavity endoscopic surgery ".

Cross reference to related applications: the Chinese patent application 201710714234.6 that August in 2017 is submitted on the 18th is beauty State applies for No.14/693, and 207 (U. S. application No.14/693,207 submitted on April 22nd, 2015, it is desirable that in April, 2014 The priority of the U.S. Provisional Application No.61/982,717 submitted for 22nd), U. S. application No.15/044,895 (U. S. application No.15/044,895 submitted on 2 16th, 2016, were U. S. application No.14/693,207 part continuation application) and beauty State applies for No.15/044, and 889 (U. S. application No.15/044, it is U. S. application that 889 submitted on 2 16th, 2016 No.14/693,207 part continuation application) part continuation application, all contents of these applications hereby entirely (including The content and introduction of any bibliography included in it) it is hereby expressly incorporated into this detailed description by reference.

Technical field

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

Background technique

It is outer so that surgical team executes that conventional surgical operation will generally need to open one or more big notch to patient Section's movement.With the development of medical science and technology, the open surgical operation of most conventional is most of by minimally invasive surgery (MIS) operation replaces.Latest developments about area of computer aided and/or robotic surgery technology promote MIS to develop, and wrap surgery The expectation movement of doctor is converted into the ability of movement of the robotic tool in the chamber of patient.

Summary of the invention

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

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

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

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

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

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

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

In some embodiments, the end effector assembly further comprises the second device assembly, second device Tool component includes the second instrument, and second instrument is for executing surgery movement；And the second instrument driven portion, it is described Second instrument driven portion be configured to by by relative to the first axle move second instrument it is such in a manner of Driving；And wherein the wrist driven portion is configured to the quilt when the wrist connector part is fixed to the wrist units The wrist drive part by relative to the second axis move second instrument it is such in a manner of drive.

In some embodiments, first arm component further comprises being accommodated firmly in the first arm component sheet The second instrument drive assembly in body, second instrument drive assembly at least have the 4th integrated motor and the driving of the second instrument Part, wherein the second instrument drive part is provided at the second end of the first arm component ontology, and Wherein the second instrument drive part can be fixed to by the 4th integrated motor control to work as the wrist connector part Second instrument driven portion is driven when the wrist units.

In some embodiments, the end effector assembly can be fixed to first arm component and can be from described First arm component unclamps.

In some embodiments, first instrument is configured to be fixed to the end effector assembly and from institute State end effector assembly release.

In some embodiments, first device assembly further comprises that may be provided in first instrument and described The first instrument insulated part between first instrument driven portion, the first instrument insulated part are configured to when described the One instrument insulated part makes first device when being provided between first instrument and first instrument driven portion Tool is electrically isolated at least first instrument driven portion.

In some embodiments, second device assembly further comprises that may be provided in second instrument and described The second instrument insulated part between second instrument driven portion, the second instrument insulated part are configured to when described the Two instrument insulated parts make second device when being provided between second instrument and second instrument driven portion Tool is electrically isolated at least second instrument driven portion.

In some embodiments, the surgery system further comprises: port assembly, at one of the port assembly End has anchor, and the port assembly is fixed to external anchor；And shoulder components, the shoulder components are an end It is fixed to second arm component, and the anchor port of the port assembly can be fixed in another end.

In some embodiments, the port assembly includes: first end segment, and the first end segment has the One end channel and the first gate assembly, first gate assembly are configured to allowing through first end channel entrance Change between the closed position that open position and prevention are entered by the first end channel；And the second end segment, institute It states the second end segment and includes the second end channel, the second end channel and first end channel substantial alignment； Second gate assembly, second gate assembly are configured in the open position and resistance for allowing to enter by the second end channel Change between the closed position only entered by the second end channel.

In some embodiments, first instrument is configured to further receive the first electric current applied from energy source To execute the movement of electrosurgical unit.

In some embodiments, second instrument is configured to further receive the second electric current applied from energy source To execute the movement of electrosurgical unit.

In some embodiments, the first arm component coupling part includes elbow driven portion, and the elbow is driven Part is configured to be driven in a manner of such relative to the first arm component described in third axial-movement.

In another exemplary embodiment, a kind of surgery system is described in the disclosure.Surgery system can be used for It executes through natural cavity endoscopic surgery (NOTES).Surgery system may include end effector assembly and arm component.End Actuator assembly may include the first device assembly.First device assembly may include the first device for executing surgery movement Tool.First device assembly can also include the first instrument driven portion, first instrument driven portion be configured to by By relative to first axle move the first instrument it is such in a manner of drive.Arm component may include the first arm component ontology, Two arm component ontologies, the first arm component coupling part, end effector connector part, the first instrument drive assembly and first Arm component driving assembly.First arm component ontology may include first end and the second end opposite with first end.The Two arm component ontologies may include first end and the second end opposite with first end.First arm component coupling part can For the first arm component ontology to be connected to the second arm component ontology.First arm component coupling part can be fixed to first The first end of arm component ontology.End effector connector part can be mentioned in the second end of the first arm component ontology For.End effector connector part can be configured at least part fixed to end effector assembly.First instrument Driving assembly may include at least first integrated motor and the first instrument drive part.First instrument drive part can be by One integrated motor control drives the first instrument quilt when end effector connector part is fixed to end effector assembly Drive part.First arm component driving assembly may include at least second integrated motor and the first arm component drive part.First Arm component drive part can be driven the first arm component ontology relative to the second arm component sheet by the second integrated motor control Body movement.

In some embodiments, the end effector assembly further comprises that can be fixed to first device assembly Wrist units, the wrist units have be configured to by by relative to second axis move first instrument it is such in a manner of The wrist driven portion of driving, the second axis are different from the first axle；Wherein the wrist units are that the end is held The part fixed to the end effector assembly of row device assembly.

In some embodiments, the arm component further comprises: wrist driving assembly, and the wrist driving assembly at least has There is third to integrate motor and wrist drive part, wherein the wrist drive part can be described to work as by the integrated motor control of the third End effector connector part drives the wrist driven portion when being fixed to the wrist units.

In some embodiments, the end effector assembly further comprises the second device assembly, second device Tool component includes the second instrument, and second instrument is for executing surgery movement；And the second instrument driven portion, it is described Second instrument driven portion be configured to by by relative to the first axle move second instrument it is such in a manner of Driving；And wherein the wrist driven portion is configured to be fixed to the wrist when the end effector connector part When component by the wrist drive part by relative to the second axis move second instrument it is such in a manner of drive.

In some embodiments, the arm component further comprises the second instrument drive assembly, and second instrument drives Dynamic component at least has the 4th integrated motor and the second instrument drive part, wherein the second instrument drive part can be by described 4th integrated motor control when the end effector connector part is fixed to the wrist units drives described second Instrument driven portion.

In some embodiments, the end effector assembly can be fixed to the arm component and can be from the arm group Part unclamps.

In some embodiments, first arm component further comprises that may be provided in first instrument and described The first instrument insulated part between one instrument driven portion, the first instrument insulated part are configured to when described first Instrument insulated part makes first instrument when being provided between first instrument and first instrument driven portion It is electrically isolated at least first instrument driven portion.

In some embodiments, first instrument drive assembly is accommodated firmly in the first arm component ontology In；The first arm component driving assembly is accommodated firmly in the first arm component ontology, and wherein described first Arm component drive part can be driven the first arm component ontology relative to by described by the described second integrated motor control The axis rotation that one arm component ontology is formed；And/or the wrist driving assembly is accommodated firmly in the first arm component sheet In body.

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

In some embodiments, first arm component further comprises the second instrument drive assembly, second device At least there is tool driving assembly third to integrate motor and the second instrument drive part, wherein the second instrument drive part can Motor control is integrated by the third to drive second device when the wrist connector part is fixed to the wrist units Tool driven portion.

Detailed description of the invention

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

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

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

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

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

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

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

Fig. 4 A is the diagram of the perspective exploded view of the example embodiment of port assembly；

Fig. 4 B is the diagram of the side view of the example embodiment of port assembly；

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

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

Fig. 5 A is the diagram of the side view of the example embodiment of instrument arm component；

Fig. 5 B is another diagram of the side view of the example embodiment of instrument arm component；

Fig. 5 C is the diagram of the perspective view of the example embodiment of instrument arm component；

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

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

Fig. 5 F is the diagram of the side view of the example embodiment for the end effector assembly unclamped from arm component；

Fig. 5 G is the diagram of the side cross-sectional, view of the example embodiment for the end effector assembly unclamped from arm component；

Fig. 5 H is the diagram of the perspective view of the example embodiment of end effector assembly；

Fig. 5 I is the diagram with the perspective view of the example embodiment of instrument of insulated part；

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

Fig. 5 K is the diagram of the perspective view of the example embodiment of arm component；

Fig. 5 L is the diagram of the side view of the example embodiment of instrument arm component；

Fig. 5 M is the diagram of the side cross-sectional, view of the example embodiment of instrument arm component；

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

Fig. 5 O is the diagram of the transparent fragmentary perspective view of the example embodiment of instrument arm component；

Fig. 6 A is the diagram of the perspective view of the example embodiment of image capture assemblies；

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

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

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

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

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

Fig. 8 F-8K is the side view of the example embodiment of the method by surgical device configuration on contrary position Diagram；

Fig. 9 A is the diagram of the perspective view of the example embodiment of surgical device system；

Fig. 9 B is the diagram of the perspective view of another example embodiment of surgical device system；

Figure 10 A is the diagram of the perspective view of the example embodiment of external anchor；And

Figure 10 B is the diagram of the perspective view of another example embodiment of external anchor.

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

Specific embodiment

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

It recognizes in the disclosure, although modern medical science and technology are developed recently, in modern surgery skill One or more problems are encountered in art and method (including MIS).For example, typical MIS operation needs to open multiple cut to patient Mouthful, to allow to enter the abdominal cavity for camera and various other laparoscopic instruments to be inserted into patient via these notch In.

Other than the aforementioned disadvantage related to many sizable notch, recognizes, used by exploitation in the disclosure In the MIS surgical operation for executing robot assisted, include surgical machine robot arm those of (and be attached to them instrument) Surgical robot systems also suffer from one or more problems.For example, recognizing herein, the master of surgical robot systems Wanting technological challenge is, it is difficult to which offer is enough to resist the expectation during surgery movement and/or it is necessary to be applied by surgical robot systems It is added on the power of patient and stable anchorage force and/or reaction force.In this regard, about known surgical robot systems The movement of certain surgeries may need great energy and time, and as anchorage force and/or the problem of reaction force deficiency As a result, may not be able to be duly executed or cannot be performed at all.

Another example for being realized the problem of encountering for surgical robot systems in the disclosure is, it is difficult in surgery machine Device people's system has been set (or installation) and has been ready to after executing surgical operation, (is such as attached to surgery hand for instrument The cutting of the end of art robots arm and/or grasp instrument) whole or even big portions in the abdominal cavity for entering patient are provided Part, region and the quadrant divided enters channel.That is, the surgical operation robot arm in system has been inserted into, is attached It even and is suitably disposed in the abdominal cavity of patient and is ready to after executing surgery movement, be attached to surgical machine robot arm The instrument of end is normally limited to only into certain parts, region and the quadrant in the abdominal cavity of patient.It recognizes in the disclosure, in this way The problem of the limited amount of possible freedom degree that can mainly be provided due to known surgical robot systems and arm (more Say to body, it is known that surgical robot systems and arm internal freedom degree (that is, in freedom degree of the intraperitoneal offer of patient) Limited amount) caused by.In this regard, surgical robot systems only provide 2 generally for each surgical machine robot arm Internal freedom degree between a to 4.

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

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

Surgery system (for example, surgical device 200)

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

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

Surgical device 200 may further include one or more additional instruments for being attachable to port assembly 210 Second instrument arm component 240 shown in arm component, such as Fig. 3 A and Fig. 3 B.Including the first instrument arm component 230, the second instrument One in the instrument arm component of arm component 240, third instrument arm component (not shown), the 4th instrument arm component (not shown) etc. Or more can be attachable to or can be fixed to port assembly 210.Such instrument arm component, which can be operable to enter, suffers from The chamber of person is intracorporal any and whole part, region and/or quadrant and holds on these parts, region and/or quadrant One or more surgery movements of row.For example, surgical device 200 can be configured in forward direction (or " the forward position in direction Set " or " forward position ") on execute surgery movement (for example, as seen in figs. 2 b and 3b).As another example, surgical device 200 can be configured to execute surgery movement (example on (or " contrary position " or " opposite position ") in the opposite direction Such as, as shown in Fig. 2A and Fig. 3 A).

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

Port assembly (for example, port assembly 210)

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

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

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

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

In example embodiment, the first gate assembly 212b can be provided at first end segment in this way In 212, that is, when the first gate assembly 212b is configured as shown in figure 4 c on open position, first end channel 212a is not blocked substantially or entirely by the first gate assembly 212b.When surgeon expectation via first end channel 212a (with And center enters the rest part of channel 210a) insert instruments into the cavity of patient (or removed from the cavity of patient Instrument) when, the first gate assembly 212b can be configured as on open position.

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

First gate assembly 212b may include the first deployable part 212b, can be configured to as shown in Figure 4 D like that when the Expansion when one gate assembly 212b is configured to closed position.When the first gate assembly 212b is configured to closed position, in addition to it Except he operates, the first deployable part 212b can be operable to substantially or entirely to stop gas medium (and/or other Jie Matter) pass through first end channel 212a.For example, if the positive using gas of the cavity of patient (such as carbon dioxide (CO₂)) infused When gas, the first gate assembly 212b (that is, first deployable part 212b) can be configured to be essentially prevented carbon dioxide gas The cavity of patient is left by first end channel 212a.

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

Recognize in the disclosure, the first gate assembly 212b may include other than the first deployable part 212b or Instead of the valve (not shown) etc. of the first deployable part 212b.Valve can be configured to essentially perform following same action, That is, stopping first end channel 212a when the first gate assembly 212b is configured to closed position, when the first gate assembly 212b quilt First end channel 212a is not stopped when being configured to open position.Valve, which can be, can be configured to execute above and in the disclosure Any kind of valve of the movement of description.Valve can include but is not limited to ball valve, sluice valve etc., as long as valve can be configured to substantially Stop/does not stop first end channel 212a and gas medium is prevented to pass through first end channel 212a.

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

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

In example embodiment, the second gate assembly 214b can be provided at the second end segment in this way In 212, that is, when the second gate assembly 214b is configured as shown in figure 4 c on open position, the second end channel 214a is not blocked substantially or entirely by the second gate assembly 214b.When surgeon expectation via the second end channel 214a (with And center enters the rest part of channel 210a) insert instruments into the cavity of patient (or removed from the cavity of patient Instrument) when, the second gate assembly 214b can be configured as on open position.

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

Second gate assembly 214b may include the second deployable part 214b, can be configured to as shown in Figure 4 D like that when the Expansion when two gate assembly 214b are configured to closed position.When the second gate assembly 214b is configured to closed position, in addition to it Except he operates, the second deployable part 214b can be operable to substantially or entirely to stop gas medium (and/or other Jie Matter) pass through the second end channel 214a.For example, if the positive using gas of the cavity of patient (such as carbon dioxide (CO₂)) infused When gas, the second gate assembly 214b (that is, second deployable part 214b) can be configured to be essentially prevented carbon dioxide gas The cavity of patient is left by the second end channel 214a.

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

Recognize in the disclosure, the second gate assembly 214b may include other than the second deployable part 214b or Instead of the valve (not shown) etc. of the second deployable part 214b.Valve can be configured to essentially perform following same action, That is, stopping the second end channel 214a when the second gate assembly 214b is configured to closed position, when the second gate assembly 214b quilt The second end channel 214a is not stopped when being configured to open position.Valve, which can be, can be configured to execute above and in the disclosure Any kind of valve of the movement of description.Valve can include but is not limited to ball valve, sluice valve etc., as long as valve can be configured to substantially Stop/does not stop the second end channel 214a and gas medium is prevented to pass through the second end channel 214a.

As shown in Figure 4 A and 4 B shown in FIG., the second end segment 214 can also include one or more anchor ports 216. Each anchor port 216 can be operable to so that instrument arm component 230 or 240, image capture assemblies 220 and/or auxiliary Arm component 250 or 260 can be fixed to port assembly 210 and unclamp from port assembly 210.Each anchor port 216 It can be formed as any one of various shapes, hole, slit, recess, protrusion, hook, fastener, magnet, buckle etc. or more It is multiple, it is included in above and those of description in the disclosure.For example, as shown in Figure 4 A and 4 B shown in FIG., in anchor port 216 One or more may include being operable to that the shoulder segment 231 of instrument arm component 230 or 240 is allowed to be inserted into and attach One or more slits etc..

In example embodiment, as shown at least Fig. 4 A and Fig. 4 B, port assembly 210 can also include interstitial segment 213.Interstitial segment 213 can have the interstitial segment channel 213a being formed through interstitial segment 213.Interstitial segment channel 213a can be substantially or entirely aligned with first end channel 212a and/or the second end channel 214a.For this point, In example embodiment, interstitial segment channel 213a and first end channel 212a and/or the second end channel 214a can To be considered as a part of center into channel 210a.Interstitial segment 213 can also include in addition to the second end segment 214 The gas injection port (not shown) of gas injection port except the (not shown) of gas injection port or instead of the second end segment 214.One In a little example embodiments, interstitial segment 213 can also include and in the first gate assembly 212 described above and in the disclosure The interstitial segment gate assembly (not shown) similar with the second gate assembly 214.

In example embodiment, interstitial segment channel 213a can be operable to and the first gate assembly 212b and the second lock Component 214b cooperation is used for instrument (such as instrument arm component 230 or 240, image capture assemblies 220, sub-arm assembly 250 to rise Or 260 etc.) isolation ward effect.For example, when instrument (such as instrument arm component 230) is needed via port assembly 220 (in or When centre is inserted into the cavity of patient into channel 210a) and the gas injection of the cavity of patient needs to keep, the first gate assembly 212b can be configured to open position to allow instrument to be inserted into interstitial segment channel 213a.In instrument, (or its is big Part) by the way that after the first gate assembly 212b, the first gate assembly 212b can be configured to closed position.Second gate assembly 214b Then open position can be configured to allow instrument to be further inserted into through port assembly 210.Instrument (or it It is most of) by the way that after the second gate assembly 214b, the second gate assembly 214b can be configured to closed position.

Enter channel 210a about center, it may include first end channel 212a, second end that center, which enters channel 210a, Portion channel 214a and/or interstitial segment channel 213a, or by first end channel 212a, the second end channel 214a and/or Interstitial segment channel 213a is formed.Center can be operable to provide into channel 210a allows one or more instruments (all Such as one or more instrument arm components 230 or 240, one or more image capture assemblies 220, one or more auxiliary Arm component 250 or 250 etc.) it is inserted into entrance port (that is, access or channel) of (or removal).

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

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

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

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

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

As shown in Figure 6A, picture catching ontology 224 may include one or more cameras 227.Each camera 227 It may include that standard and/or high definition 2 tie up (2D) and/or 3 dimension (3D) cameras, as described in above and in the disclosure, this Camera be operable to capture imaging, such as 2D and/or solid and/or Autostereoscopic 3D imaging (including image, video and/or Audio), and the imaging (including image, video and/or audio) of capture is provided via wired and or wireless communications in real time To one or more calculating equipment (or controller or system) for being located at neighbouring and/or long-range surgical team 904.It calculates Equipment (or controller or system) may include one or more processors, one or more man-machine interfaces, one or more Multiple graphic alphanumeric displays (computer screen, video screen, portable equipment, wearable device (glasses etc.)) and/or Other equipment and/or system, these example are illustrated in Fig. 9 A and Fig. 9 B.It is one or more of be located at it is neighbouring and/ Or long-range surgical team 904 can be operable to check, listen attentively to, feel, analyze and/or control it is (such as distant to take the photograph, scale, locating Reason, change, label, change resolution ratio etc.) in one or more standards and/or high definition 2D and/or 3D graphic alphanumeric display 902 (such as Fig. 9 A's and Fig. 9 B is illustrated) and/or the portable and/or wearable device suitable for receiving 2D and/or 3D imaging The imaging for showing or indicating on (not shown).Picture catching ontology 224 can also include one or more irradiation sources 229, all Such as LED, these irradiation sources 229 are operable at least one or more part, the segment for the cavity for irradiating or feeling patient And/or quadrant, including the instrument provided in the cavity of patient.Picture catching ontology 224 may further include one or more Multiple internal temperature control components, these internal temperature control components, which are operable to control, (such as reduces) picture catching ontology The temperature of 224 one or more components.

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

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

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

When internal temperature control component is using gas etc., example embodiment can also be operable to via one or more Multiple pipes etc. provide such gas and/or the gas as the outside drain or recycling of body cavity to body cavity.In example In embodiment, gas may include carbon dioxide, oxygen and/or other gases.Such gas can be further operable To help to provide and/or keep the gas injection of the cavity of patient during surgery.When internal temperature control component utilizes liquid Whens equal, example embodiment can be operable in the outside drain of body cavity or the such liquid of recycling.Work as internal temperature Whens control assembly is using solid etc., such solid can possess following properties, that is, enable surgical team such as by applying The energy of power or other forms is powered on to change the temperature of solid, to control and (such as reduce) the one of image capture assemblies 220 The temperature and/or fever of a or more component.In example embodiment, in the case where not departing from the introduction of the disclosure, Internal temperature control component can use the combination of gas, liquid, solid etc..

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

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

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

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

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

Whole system can also include one or more individual image capture assemblies, shown in such as Fig. 6 D individually Image capture assemblies 320.Individual image capture assemblies 320 can magnetically be anchored to patient's by magnetic anchor 310 The inner wall of cavity, via permanent magnet, electromagnet etc..In some example embodiments, magnetic anchor 310 can also be with It is fixed/keeps in place via external anchor (not shown).Individual image capture assemblies 320 may include one or more Multiple cameras 327, and can also include one or more irradiation sources 329.

Individually image capture assemblies 320 can be operable to provide one or more in various views, including but It is not limited to normal view, scaling view, wide-angle view and/or the panoramic view of the cavity of patient.Individual image capture assemblies 320 can be positioned in a manner of the accessible view for the intracorporal area-of-interest of chamber for providing patient to surgical team 904.It closes In by the positioning of individual image capture assemblies 320 and fix in position, as shown in Figure 6 D, individual image capture assemblies 320 can Center to be inserted through port assembly 210 in a manner of one of in many ways or more enters channel 210a and enters The desired locations of the inner wall of the cavity of patient, including use surgical tool (not shown), individual image capture assemblies 320 are attached Be connected to image capture assemblies 220 can more bend bodies it is similar can more bend body (not shown) (such as Fig. 2A, Fig. 2 B, figure Shown in 3A, Fig. 3 B and Fig. 6 D), etc..

Instrument arm component (for example, instrument arm component 230,240)

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

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

One or more in instrument arm component (such as 230,240) can also include one or more integrated motors (for example, integrating motor 332,334,336,339 and at least Fig. 5 M, Fig. 5 N shown at least Fig. 5 E, Fig. 5 G, Fig. 5 J and Fig. 5 K With integrated motor 362,364 shown in Fig. 5 O and 366), each integrated motor is operable to provide at least one for instrument arm component A freedom degree.Each integrated motor (for example, integrated shown at least Fig. 5 E, Fig. 5 G, Fig. 5 J and Fig. 5 K motor 332,334,336, Motor 362,364 is integrated shown in 339 and at least Fig. 5 M- Fig. 5 O and 366) can be completely (can be via in addition to for example Except the power supply and/or controlling cable of port assembly feeding) it is contained in instrument arm component (or arm component, such as the first arm component 330, the second arm component 360 and shoulder components 231) in, be such as contained in complete in shell 330 ' and 360 ' and operate independently from Motor.One or more in instrument arm component can also include that integrated tactile and/or force feedback subsystem (not shown Out), which is communicated with one or more in integrated motor and/or other sensors and/or instrument, can be operated To provide (such as via calculating equipment/controller) to surgical team one or more in multiple feedback responses and/or measurement It is a, including with instrument arm component, close to and/or the position (including orientation) of neighbouring instrument arm component, the power, close that applies Those of correlations such as degree, temperature, pressure, humidity.For example, surgical team 904 can be provided with the primary input of executor etc. Equipment, these executors etc. have tactile and/or force feedback, and be designed to high precision, high dexterity and minimal negative Load by small finger torsion, wrist bending and/or other arms/shoulder movement of surgical team 904 be mapped to instrument arm (such as 230, 240) movement and feel these movements, while the feedback of contact resistance (such as tissue resistance) being also provided.

When instrument arm component (such as 230,240) includes that one or more irradiation sources, camera, tactile and/or power are anti- When presenting instrument and/or other sensors and/or instrument, as described in above and in the disclosure, instrument arm component can also be wrapped Include gas hood, the gas hood such as described above with respect to image capture assemblies 220.One in instrument arm component (such as 230,240) Or more may further include one or more internal temperature control components, these internal temperature control components can operate Come control (such as reduce or improve) instrument arm component one or more components temperature.

Fig. 2A, Fig. 2 B, Fig. 3 A, Fig. 3 B, Fig. 5 A and Fig. 5 B example embodiment as shown in, including the first instrument arm group Each of instrument arm component of part 230 may include first the 231, second instrument arm section of instrument arm section (or shoulder segment) (or One arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (as shown at least Fig. 5 C), third instrument arm section (or the second arm joint Section) 235 (as shown at least Fig. 5 A-5B), 330 (as shown at least Fig. 5 C) and the 4th instrument arm section (or hand segment) 237.Device Tool arm component 230 can also include: the first coupling part (or shoulder connection segment) 232, with shoulder sideway (sway) joint Section 380 and shoulder pitching (pitch) couple segment 370；Second coupling part (or toggle section) 234 (as shown at least Fig. 5 A-5B), 350 (as shown at least Fig. 5 C)；Third coupling part (or carpopodium section) 236 (as shown at least Fig. 5 A-5B), axis B is (as at least Shown in Fig. 5 D-H)；And end effector coupling part 238 (as shown at least Fig. 5 A-5B), axis A (such as at least Fig. 5 D-H institute Show).Each of aforementioned coupling part can manually and/or via equipment (or system) is calculated be configured to when instrument arm group When part is provided in the abdominal cavity of patient for attached instrument arm section (and end effector 239,342,344) provide one or More internal freedom degrees.For example, the first coupling part (or shoulder connection segment) 232 can be operable to as the second instrument arm section (or first arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (as shown at least Fig. 5 C) provide with one of mankind's shoulder or One or two similar freedom degree of two freedom degrees.Specifically, shoulder sideway connection segment 380 (as shown at least Fig. 5 M) can To be operable to as the second instrument arm section (or first arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (such as at least Fig. 5 C institutes Show) movement (for example, rotation) (as shown at least Fig. 5 M) of the offer relative to axis E.In addition, shoulder pitching connection segment 370 is (such as At least shown in Fig. 5 M) can be operable to for the second instrument arm section (or first arm joint section) 233 (as shown at least Fig. 5 A-5B), 360 (as shown at least Fig. 5 C) provide the movement (for example, rotation) (as shown at least Fig. 5 M) relative to axis D.As another Example, the second coupling part (or toggle section) 234 (as shown at least Fig. 5 A-5B), 350 (as shown at least Fig. 5 C) can be grasped Make to be mentioned (as shown at least Fig. 5 C) for third instrument arm section (or second arm joint section) 235 (as shown at least Fig. 5 A-5B), 330 For one or two freedom degree similar with one or two freedom degree of mankind's shoulder.Specifically, the second coupling part (or elbow Segment) 234 (as shown at least Fig. 5 A-5B), 350 can be operable to (as shown at least Fig. 5 C) for third instrument arm section (or Second arm joint section) movement (example of 235 (as shown at least Fig. 5 A-5B), 330 (as shown at least Fig. 5 C) offers relative to axis C Such as, rotate) (as shown at least Fig. 5 M).As another example, (such as at least Fig. 5 A-5B of third coupling part (or carpopodium section) 236 It is shown), axis B (as shown at least Fig. 5 D-H) can be operable to for the 4th instrument arm section (or hand segment) 237 provide and people One or two similar freedom degree of one or two freedom degree of class wrist.Specifically, third coupling part (or carpopodium section) 236 (as shown at least Fig. 5 A-5B), axis B (as shown at least Fig. 5 D-H) can be operable to as the 4th instrument arm section (or hand Segment) movement (for example, rotation) (as shown at least Fig. 5 M) of 237 offers relative to axis B.As another example, end is held Row device coupling part 238 (as shown at least Fig. 5 A-5B), axis A (as shown at least Fig. 5 D-H) can be operable to as end Actuator 239,342,344 provides one or more freedom degrees.Specifically, end effector coupling part 238 is (as at least Shown in Fig. 5 A-5B), axis A (as shown at least Fig. 5 D-H) can be operable to provide phase for end effector 239,342,344 Movement (for example, rotation) (as shown at least Fig. 5 M) for axis A.Therefore, one or more in instrument arm component can Manually and/or via equipment/controller is calculated to be configured to provide for seven or more internal freedom degrees, and with by holding Mouthful component 210 and controllable gyro black assembly 1000 (referring to Figure 10 A and Figure 10 B)) provide at least one to three or more individuals Outer freedom degree together, in instrument arm component it is one or more can by manually and/or via calculate equipment/controller be matched It is set to and provides a total of eight to ten or more freedom degrees.Recognize herein, for instrument arm component it is aforementioned at least The seven individual internal degree of freedoms enable at least surgical arm proper motion entire scope (via controller/calculating Machine-human interface/executor/primary input equipment, example shown in such as Fig. 9 A and Fig. 9 B) essentially directly mapped and/ Or it is transformed into instrument arm component.

In the case where not departing from the introduction of the disclosure, including coupling part 232,370,380,234,350 and 236 (and Along the coupling part of axis B) and each coupling part of instrument coupling part 238 (and coupling part along axis A) can be with Any one including gear and/or gear assembly or more configuration, including spur gear configuration, planetary gear configuration, cone tooth Wheel configuration, spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear are matched It sets.In example embodiment, each instrument arm component can also include it is one or more be internally integrated motor 332,334, 336,339,362,364,366 etc., these are internally integrated motor etc. and are operable to actuating (for example, via the first instrument driving portion Point 332a, the second instrument drive part 334a, wrist drive part 336a, elbow drive part 362a, shoulder pitching drive part 364a, Shoulder sideway drive part 366a) each coupling part is (for example, the first instrument driven portion 342a, the second instrument driven part 344a, wrist driven portion 346a, elbow driven portion 352, shoulder pitching driven portion 364b, the first shoulder sideway is divided to be driven Part 366b, the second shoulder sideway driven portion 366c (if necessary), third shoulder sideway driven portion 366d) (packet Include coupling part 232,370,380,234,350 and 236 (and coupling part along axis B and axis A)) and/or instrument arm section 231,233,360,235,330 and 237 gear.In this regard, in example embodiment, in the above and disclosure Each of integrated motor, coupling part and/or the instrument arm section of description can be operable to via wired and or wireless communications It is carried out back and forth or unidirectionally with one or more calculating equipment/controllers for being located at neighbouring and/or distant place surgical team 904 Communication, such as reception control command and/or transmission information.In addition, being retouched in example embodiment above and in the disclosure Each of integrated motor, coupling part and/or instrument arm section for stating can be operable to via wiredly and/or wirelessly transmit from External power supply and/or calculating equipment/controller receive power and/or control signal.

In example embodiment, as shown in Fig. 5 C-5M, instrument arm section component (for example, instrument arm section component 230,240) It may include end effector assembly (for example, end effector assembly 340).Instrument arm section component is (for example, instrument arm section component 230,240) can also include the first arm component (for example, first arm component 235,330).Instrument arm section component is (for example, instrument arm 240) section component 230 can also include the second arm component (for example, second arm component 233,360).

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

The example embodiment of end effector assembly (for example, end effector assembly 340) may include the first instrument Component.End effector assembly 340 can also include the second device assembly.Although drawing illustration explanation has the first instrument and the The end effector assembly of two instruments, but it is appreciated that the end in the case where not departing from the introduction of the disclosure in the disclosure Actuator assembly can have more other instruments, or can only have the first instrument or the second instrument.End executes Device assembly 340 can also include wrist units.

(i) the first device assembly

The example embodiment of first device assembly may include for executing the first instrument of surgery movement (for example, the One instrument 342).In the case where not departing from the introduction of the disclosure, the first instrument 342 can be any surgical instruments.

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

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

First instrument driven portion 342a, which can be, to be configured to by any of the first instrument drive part 332a driving Mechanism, equipment etc..For example, in the case where not departing from the introduction of the disclosure, the first instrument driven portion 342a may include Any one of gear and/or gear assembly or more configuration, including spur gear configuration, planetary gear configure, bevel gear is matched Set, spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or Mechanical arrangements (such as bracing wire and pulley).Although drawing illustration illustrates that the end with a first instrument driven portion executes Device assembly, but in the disclosure it is appreciated that end effector assembly can have in the case where not departing from the introduction of the disclosure There is the first more than one instrument driven portion.

End effector assembly 340 can be dismantled from arm component 331 in the example embodiment of (that is, release) wherein, It is appreciated that the first instrument drive part 332a of integrated motor 332 can be operable to be fixed when end effector assembly 340 The first instrument driven portion 342a is driven when (that is, being attached) is to arm component 331.Specifically, the first of integrated motor 332 Instrument drive part 332a can be operable to be fixed (that is, being attached) to end effector group when wrist connector part 338 Part (and more specifically, the connector 348 of end effector assembly 340) wrist units (below and in the disclosure into One step description) when drive the first instrument driven portion 342a.

End effector assembly 340 can be dismantled from arm component 331 in the example embodiment of (that is, release) wherein, It is appreciated that one or more electric wires that connects and can disconnect, cable etc. be provided to enable the first instrument 342 from Energy source receives electric current to execute the movement of electrosurgical unit.

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

Any one of multiple material or more formation, such as electricity can be used absolutely in first instrument insulated part 342b Edge material, heat insulator, plastics, elastomer, ceramics, glass and minerals.In the disclosure it is appreciated that not departing from this In the case where disclosed introduction, other materials also can be used.

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

(ii) the second device assembly

The example embodiment of second device assembly may include for executing the second instrument of surgery movement (for example, the Two instruments 344).In the case where not departing from the introduction of the disclosure, the second instrument 344 can be any surgical instruments.

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

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

Second instrument driven portion 344a, which can be, to be configured to by any of the second instrument drive part 334a driving Mechanism, equipment etc..For example, in the case where not departing from the introduction of the disclosure, the second instrument driven portion 344a may include Any one of gear and/or gear assembly or more configuration, including spur gear configuration, planetary gear configure, bevel gear is matched Set, spiral bevel gear configuration, hypoid gear configuration, helical gear configuration, worm gear configuration and/or any other gear and/or Mechanical arrangements (such as bracing wire and pulley).Although drawing illustration illustrates that the end with a second instrument driven portion executes Device assembly, but in the disclosure it is appreciated that end effector assembly can have in the case where not departing from the introduction of the disclosure There is the second more than one instrument driven portion.

End effector assembly 340 can be dismantled from arm component 331 in the example embodiment of (that is, release) wherein, It is appreciated that the second instrument drive part 334a of integrated motor 334 can be operable to be fixed when end effector assembly 340 The second instrument driven portion 344a is driven when (that is, being attached) is to arm component 331.Specifically, the second of integrated motor 334 Instrument drive part 334a can be operable to be fixed (that is, being attached) to end effector group when wrist connector part 338 Part (and more specifically, the connector 348 of end effector assembly 340) wrist units (below and in the disclosure into One step description) when drive the second instrument driven portion 344a.

End effector assembly 340 can be dismantled from arm component 331 in the example embodiment of (that is, release) wherein, It is appreciated that one or more electric wires that connects and can disconnect, cable etc. be provided to enable the second instrument 344 from Energy source receives electric current to execute the movement of electrosurgical unit.

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

Any one of multiple material or more formation, such as electricity can be used absolutely in second instrument insulated part 344b Edge material, heat insulator, plastics, elastomer, ceramics, glass and minerals.In the disclosure it is appreciated that not departing from this In the case where disclosed introduction, other materials also can be used.

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

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

In example embodiment, the first instrument (for example, first instrument 342) and the second instrument are (for example, the second instrument 344) it can selectively move/drive independently of each other.In example embodiment, the first instrument 342 and the second instrument 344 can selectively movement/driving in a manner of similar or is identical, can such as move/drive simultaneously, for identical lasting Time is directed to same distance and/or output energy having the same.Although drawing illustration explanation has the first instrument and the second device The end effector assembly of tool, but in the disclosure it is appreciated that end executes in the case where not departing from the introduction of the disclosure Device assembly can have more other instruments, or can only have the first instrument or the second instrument.For example, the first instrument 342 and second instrument 344 can cooperate to form clasper.As another example, the first instrument 342 and the second instrument 344 can be with Cooperation forms scissors.As another example, the first instrument 342 and the second instrument 344 can be cooperated to form Maryland clasper. In the case where not departing from the introduction of the disclosure, in the disclosure in addition to the first instrument above and being described herein and/ Or second except instrument it is contemplated that the first instrument and/or the second instrument of other forms and type, or imagine other forms and The first instrument and/or the second instrument of type are substituted in the first instrument and/or the second instrument above and being described herein.

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

(iv) wrist units

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

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

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

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

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

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

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

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

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

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

Although drawing illustration explanation have the first integrated motor 332, the second integrated motor 334, third integrate motor 336, 4th integrated motor 339, the first instrument drive part 332a, the second instrument drive part 334a, wrist drive part 336a and The first arm component (for example, first arm component 235,330) of first arm component drive part 339a, it is to be appreciated that not taking off In the case where introduction from the disclosure, the first arm component (for example, first arm component 235,330) may include the first integrated motor 332, the second integrated motor 334, third integrate motor 336, the 4th integrated motor 339, the first instrument drive part 332a, second Instrument drive part 334a, wrist drive part 336a and/or the first arm component drive part 339a, and/or can further include it He integrates motor (one or more) and/or other drive parts.It is also to be understood that the introduction for not departing from the disclosure the case where Under, the first integrated motor 332, the second integrated motor 334, third integrate motor 336, the 4th integrated motor 339, the first instrument and drive Dynamic part 332a, the second instrument drive part 334a, wrist drive part 336a and/or the first arm component drive part 339a can be with The first arm component (for example, first arm component 235,330), the second arm component are partially or entirely placed in (for example, second Arm component 233,360) and/or in any other position.

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

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

In example embodiment, the second arm component ontology 360 ' can accommodate elbow driving assembly securely.Elbow driving group Part may include the 5th integrated motor (for example, the 5th integrated motor 362) and elbow drive part (for example, elbow drive part 362a).Elbow drive part 362a may be provided at the second end 360b of the second arm component ontology 360 '.Elbow drive part 362a can drive elbow driven portion 352 by the 5th integrated control of motor 362.Elbow drive part 362a can be and can match Any mechanism, the equipment etc. for setting to drive elbow driven portion 352.For example, in the case where not departing from the introduction of the disclosure, elbow Sideway drive part 362a may include any one of gear and/or gear assembly or more configuration, including spur gear is matched It sets, planetary gear configuration, bevel gear configuration, spiral bevel gear configuration, hypoid gear configuration, helical gear configures, worm gear is matched It sets and/or any other gear and/or mechanical arrangements (such as bracing wire and pulley).Although there is drawing illustration explanation an elbow to drive The second arm component of dynamic part 362a, but be appreciated that in the disclosure in the case where not departing from the introduction of the disclosure, second Arm component can have more than one elbow drive part 362a.

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

In example embodiment, the second arm component ontology 360 ' can accommodate shoulder sideway driving assembly securely.Shoulder is horizontal Pendulum driving assembly may include the 7th integrated motor (for example, the 7th integrated motor 366) and shoulder sideway drive part (for example, Shoulder sideway drive part 366a).Shoulder sideway drive part 366a may be provided in the first end of the second arm component ontology 360 ' At portion 360a.Shoulder sideway drive part 366a can drive the first shoulder sideway to be driven by the 7th integrated control of motor 366 (it successively drives the second shoulder sideway driven portion 366c (if necessary) and third shoulder sideway driven part to part 366b Divide 366d).Shoulder sideway drive part 366a can be any machine for being configured to the first shoulder sideway driven portion 366b of driving Structure, equipment etc..In addition, the first shoulder sideway driven portion 366b, which can be, is configured to the second shoulder sideway driven portion of driving Any mechanism of 366c, equipment etc..In addition, the second shoulder sideway driven portion 366c, which can be, is configured to driving third shoulder cross Put any mechanism, the equipment etc. of driven portion 366d.For example, shoulder sideway is driven in the case where not departing from the introduction of the disclosure Dynamic part 366a, the first shoulder sideway driven portion 366b, the second shoulder sideway driven portion 366c and third shoulder sideway quilt One or more in drive part 366d may include any one of gear and/or gear assembly or more configuration, Including spur gear configuration, planetary gear configuration, bevel gear configuration, spiral bevel gear configuration, hypoid gear configuration, helical gear Configuration, worm gear configuration and/or any other gear and/or mechanical arrangements (such as bracing wire and pulley).Although drawing illustration explanation It is driven with a shoulder sideway drive part 366a, a first shoulder sideway driven portion 366b, a second shoulder sideway The second arm component of part 366c and a third shoulder sideway driven portion 366d, but be appreciated that in the disclosure In the case where the introduction for not departing from the disclosure, the second arm component can have more than one shoulder sideway drive part 366a, more In one the first shoulder sideway driven portion 366b, the second more than one shoulder sideway driven portion 366c and/or it is more than One third shoulder sideway driven portion 366d.In addition, being appreciated that the feelings in the introduction for not departing from the disclosure in the disclosure Under condition, the second arm component can have or can not have the second shoulder sideway driven portion 366c, and/or can have or Person can not have one or more between shoulder sideway drive part 366a and third shoulder sideway driven portion 366d Additional or other intermediate shoulder sideways driven portion.

Although drawing illustration explanation have the 5th integrated motor 362, the 6th integrated motor 364, the 7th integrated motor 366, The second arm component of elbow drive part 362a, shoulder pitching drive part 364a and shoulder sideway drive part 366a are (for example, second Arm component 233,360), it is to be appreciated that the second arm component is (for example, the second arm in the case where not departing from the introduction of the disclosure 360) component 233 may include the 5th integrated motor 362, the 6th integrated motor 364, the 7th integrated motor 366, elbow driving portion Divide 362a, shoulder pitching drive part 364a and/or shoulder sideway drive part 366a, and/or can also include other integrated electricity Machine (one or more) and/or other drive parts.It is also to be understood that in the case where not departing from the introduction of the disclosure, the Five integrated motors 362, the 6th integrated motor 364, the 7th integrated motor 366, elbow drive part 362a, elbow sideway drive part 362a, shoulder pitching drive part 364a and shoulder sideway drive part 366a can be partially or entirely placed in the first arm Component (for example, first arm component 235,330), the second arm component (for example, second arm component 233,360) and/or any other Position in.

Each instrument arm component can be fixed to the anchoring of port assembly 210 via the fixed part 231a of shoulder segment 231 Device port 216 (and being unclamped from the anchor port 216 of port assembly 210).It recognizes in the disclosure, instrument arm component 230,240 the forward position in anchor port 216, direction of port assembly 210 can be fixed to (for example, such as Fig. 2 B and figure Shown in 3B) and/or contrary position (for example, as shown in Fig. 2A and Fig. 3 A) on.In addition, in example embodiment, device Tool arm component 230,240 can or can not change between the opposite position of the forward position and direction in direction.In instrument In the example embodiment that arm component 230,240 can change between the opposite position of the forward position and direction in direction, in this way Transformation can by shoulder segment 231 be fixed to port assembly 210 anchor port 216 before, during and/or after hold Row.For example, in such embodiments, fixed part 231a can adjustably be changed relative to the position of shoulder segment 231 Become, such as the forward position in direction shown in Fig. 5 A becomes position contrary shown in Fig. 5 B, and vice versa.

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

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

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

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

In example embodiment, including the first instrument arm section 231, the second instrument arm section 233,360, third instrument arm section 235,330 and/or the 4th the instrument arm section of instrument arm section 237 can be generally cylindrical shape.In the religion for not departing from the disclosure In the case where leading, including the first instrument arm section 231, the second instrument arm section 233,360, third instrument arm section 235,330 and/or The instrument arm section of four instrument arm sections 237 can also be formed as any one of various other shapes, size and/or size.

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

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

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

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

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

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

As shown in Fig. 2A, Fig. 2 B, Fig. 3 A and Fig. 3 B, suction/irrigation component 250 may include having suction ports 259 End, suction ports 259 are used to apply the suction or negative pressure that can be used for removing liquid (for example, blood etc.) from the cavity of patient Power.About auxiliary instrument arm component 260, auxiliary instrument arm component 260 may include that (such as clasper retracts with instrument 269 Device, cutter, needle etc.) end, instrument 269 can be used for helping one or more instrument arm component 230 and/or 240 execute surgery movement.

Fig. 2A, Fig. 2 B, Fig. 3 A and Fig. 3 B example embodiment as shown in, sub-arm assembly 250 and/or 260 can be with Respectively include the end (respectively, suction ports or instrument) for being attached to them can more bend bodies 252 and/or 262.It can be more Bend body 252 or 262 can be in the image capture assemblies 220 described above and in the disclosure can more bend bodies It is similar it is any it is elongated can more bend bodies, can be by surgical team 904 (such as via calculating equipment/controller/manipulation Device/primary input equipment) control/configuration be in addition to other aspects, along can more bend bodies 252 or 262 multiple positions (and be straightened and/or be bent as keeping) is straightened and/or is bent at one or more positions set, in multiple bendings (and keeping such bending part) is bent in one or more bending parts in part, and/or in multiple directions One or more directions on be straightened and/or be bent (and keep as be straightened and/or be bent).It is appreciated that when can be more Bend body 252 or 262 is configured as when along that can be bent at any position of more bend bodies 252 or 262, and curve can be with Kept and/or decontroled by surgical team 904 (such as via calculate equipment/controller/executor/primary input equipment) (or by Be configured to not to be bent, less bending or be straightened).

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

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

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

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

Controller

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

Surgical device 200 is arranged in the method (for example, method 700) on the forward position in direction

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

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

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

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

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

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

Controllable gyro black assembly 1000 can also include third rotating part 1006, be operable to offer and be used as in vitro freely In degree another, port assembly 210 surround the axis (such as discribed axis of axis Z (it leaves the page)) perpendicular to Y-axis Pivot or rotary motion.In example embodiment, Z axis or rotation center can be located at around the opening of patient, such as in abdomen The middle point of wall.In example embodiment, the pivot or rotation as shown by arrow A that is provided by third rotating part 1006 Movement can be about +/- between 80 degree.

It recognizes in the disclosure, in example embodiment, controllable gyro black assembly 1000 may include the first rotating part Divide the 1002, second rotating part 1004 and/or third rotating part 1006.When expectation and/or need in addition to that can be turned round by first More than three bodies except those of part 1002, the second rotating part 1004 and the offer of third rotating part 1006 freedom degree When outer freedom degree and/or movement/rotation, controllable gyro black assembly 1000 may further include other rotating part (not shown).

Controllable revolution including the first rotating part 1002, the second rotating part 1004 and/or third rotating part 1006 Component 1000 can locally or remotely controlled by surgical team.

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

(2) it is inserted into and attaches image capture assemblies

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

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

(3) it is inserted into and attaches the first instrument arm component

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

(5) be inserted into and attach one or more additional instrument arm components, one or more sub-arm assemblies and/ Or one or more additional camera shooting head arm assemblies

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

(6) it dismantles and removes instrument arm component, image capture assemblies and sub-arm assembly

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

Surgical device 200 is arranged in the method (for example, method 700) on contrary position

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

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

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

(2) it is inserted into and attaches image capture assemblies

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

(3) it is inserted into and attaches the first instrument arm component

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

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

Instrument arm component 230, image capture assemblies 220, other instrument arm components 240 (if provided), other figures As capture component (if provided) and one or more others sub-arm assemblies 250 or 260 (provided that Words) it can be passed through by with the mode essentially the inverse above in relation to insertion and in a manner of attaching description, in contrary mode Entered channel 210a from the disassembly of anchor port 216 (or release) by the center of port assembly 210 and is moved from the cavity of patient It removes.

Although the various embodiments according to disclosed principle are described above, it should be appreciated that they are only It is presented by illustrative mode, and not restrictive.Therefore, the width of example embodiment described in the disclosure and Range should not be limited by any illustrative embodiments described above, but should be wanted according only to from the right of disclosure authorization It asks and its equivalent form limits.In addition, the above advantages and features are provided in described embodiment, but should not limit The claim authorized in this way is applied to realize the processing and structure of any of the above or all advantages.

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

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

As mentioned in the disclosure, computing device, processor and/or system can be virtual machine, computer, section Point, example, host and/or networking or non-networked calculate the machine in environment.Networked computing environment, which can be, passes through convenient means Between communication and the device that allows the communication channel of device shared resource to connect collection.For another example mentioned in the disclosure, Computing device can be the dress being deployed to Zhi Hangs as socket listener (socket listener) program operated It sets, and may include software instances.

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

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

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

Compare, measure and the vocabulary of selection of time (timing), for example, " at this time ", " equivalent form ", " in ... period ", " complete " etc., should be understood as meaning " substantially at this time ", " substantially equivalent form ", " substantially existing ... period ", " base It is complete in sheet " etc., wherein " substantially " it is meant that for the expected result that either implicitly or explicitly illustrates of realization, such ratio Compared with, measurement and selection of time be practicable.

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

Claims

1. one kind is for executing the surgery system through natural cavity endoscopic surgery (NOTES), the surgery system includes:

End effector assembly, the end effector assembly include

First device assembly, first device assembly include

First instrument, first instrument is for executing surgery movement；And

First instrument driven portion, first instrument driven portion are configured to by move institute relative to first axle The such mode for stating the first instrument drives；

Second device assembly, second device assembly include

Second instrument, second instrument is for executing surgery movement；And

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

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

It can be fixed to the first arm component of the end effector assembly, first arm component includes

First arm component ontology, the first arm component ontology have first end and opposite with the first end second End；

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

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

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

The second instrument drive assembly being accommodated firmly in the first arm component ontology, second instrument drive assembly is extremely There is the second integrated motor and the second instrument drive part less, wherein the second instrument drive part can be integrated by described second Motor control drives second instrument driven portion when the wrist connector part is fixed to the wrist units, Described in the first integrated motor and the second integrated motor be individually controllable, separately to control described The movement of one instrument and second instrument；

The wrist driving assembly being accommodated firmly in the first arm component ontology, the wrist driving assembly at least have third collection At motor and wrist drive part, wherein the wrist drive part can integrate motor control by the third to work as the wrist connector Part drives the wrist driven portion when being fixed to the wrist units；And

The first arm component driving assembly being accommodated firmly in the first arm component ontology, the first arm component driving group Part at least has the 4th integrated motor and the first arm component drive part, wherein the first arm component drive part can be by described 4th integrated motor control drives the first arm component ontology relative to the axis formed by the first arm component ontology Rotation；And

Second arm component.

2. surgery system as described in claim 1, wherein the end effector assembly can be fixed to first arm component And it can be unclamped from first arm component.

3. surgery system as claimed in claim 2, wherein first instrument is configured to be fixed to the end effector Component and from the end effector assembly unclamp.

4. surgery system as described in claim 1, wherein first device assembly further comprises that may be provided in described The first instrument insulated part between one instrument and first instrument driven portion, the first instrument insulated part can match It sets come when the first instrument insulated part is provided between first instrument and first instrument driven portion It is electrically isolated first instrument at least first instrument driven portion.

5. surgery system as described in claim 1, wherein second device assembly further comprises that may be provided in described The second instrument insulated part between two instruments and second instrument driven portion, the second instrument insulated part can match It sets come when the second instrument insulated part is provided between second instrument and second instrument driven portion It is electrically isolated second instrument at least second instrument driven portion.

6. surgery system as described in claim 1, further comprises:

Port assembly has anchor port in an end of the port assembly, and the port assembly is fixed to outside Anchor；And

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

7. surgery system as described in claim 1 is applied wherein first instrument is configured to further receive from energy source The first electric current added is to execute the movement of electrosurgical unit.

8. surgery system as described in claim 1 is applied wherein second instrument is configured to further receive from energy source The second electric current added is to execute the movement of electrosurgical unit.

9. surgery system as described in claim 1, wherein the first arm component coupling part includes elbow driven portion, institute Elbow driven portion is stated to be configured to be driven in a manner of such relative to the first arm component described in third axial-movement.

10. one kind is for executing the surgery system through natural cavity endoscopic surgery (NOTES), the surgery system includes:

End effector assembly, the end effector assembly include

First device assembly, first device assembly include

First instrument, first instrument is for executing surgery movement；And

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

Second device assembly, second device assembly include

Second instrument, second instrument is for executing surgery movement；And

Arm component, the arm component include

Second arm component ontology, the second arm component ontology have first end and opposite with the first end second End；

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

In the end effector connector part that the second end of the first arm component ontology provides, the end is executed Device connector part is configured at least part fixed to the end effector assembly；

First instrument drive assembly, first instrument drive assembly at least have the first integrated motor and the first instrument driving portion Point, wherein the first instrument drive part can be worked as the end effector connector portion by the described first integrated motor control Divide and drives first instrument driven portion when being fixed to the end effector assembly；

Second instrument drive assembly, second instrument drive assembly at least have the second integrated motor and the second instrument driving portion Point, wherein the second instrument drive part can be worked as the end effector connector portion by the described second integrated motor control Divide and drive second instrument driven portion when being fixed to the end effector assembly, wherein the first integrated motor It is individually controllable with the described second integrated motor, separately to control first instrument and second device The movement of tool；And

At least there is third to integrate motor and the first arm component for first arm component driving assembly, the first arm component driving assembly Drive part, wherein the first arm component drive part can integrate motor control by the third to drive the first arm group Part ontology is relative to the axis rotation formed by the first arm component ontology.

11. surgery system as claimed in claim 12, wherein the end effector assembly further comprises that can be fixed to institute The wrist units of the first device assembly are stated, the wrist units, which have, to be configured to by move first device relative to second axis The wrist driven portion that such mode of tool drives, the second axis are different from the first axle；The wherein wrist group Part is the part fixed to the end effector assembly of the end effector assembly.

12. surgery system as claimed in claim 13, wherein the arm component further comprises:

Wrist driving assembly, the wrist driving assembly at least have the 4th integrated motor and wrist drive part, wherein the wrist drives Part can be by the 4th integrated motor control come when the end effector connector part is fixed to the wrist units Drive the wrist driven portion.

13. surgery system as claimed in claim 12, wherein the end effector assembly can be fixed to the arm component simultaneously And it can be unclamped from the arm component.

14. surgery system as claimed in claim 12, wherein first arm component further comprises that may be provided in described The first instrument insulated part between one instrument and first instrument driven portion, the first instrument insulated part can match It sets come when the first instrument insulated part is provided between first instrument and first instrument driven portion It is electrically isolated first instrument at least first instrument driven portion.

15. surgery system as claimed in claim 12, wherein second device assembly further comprise may be provided in it is described The second instrument insulated part between second instrument and second instrument driven portion, the second instrument insulated part can Configuration is provided between second instrument and second instrument driven portion to work as the second instrument insulated part When be electrically isolated second instrument at least second instrument driven portion.

16. surgery system as claimed in claim 12, wherein first instrument is configured to further receive from energy source The first electric current applied is to execute the movement of electrosurgical unit.

17. surgery system as claimed in claim 12, wherein second instrument is configured to further receive from energy source The second electric current applied is to execute the movement of electrosurgical unit.

18. surgery system as claimed in claim 12, wherein

First instrument drive assembly is accommodated firmly in the first arm component ontology；

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

The wrist driving assembly is accommodated firmly in the first arm component ontology.

19. surgery system as claimed in claim 12, further comprises:

Port assembly has anchor port in an end of the port assembly, and the port assembly is fixed to outside Anchor, the port assembly include:

First end segment, the first end segment have first end channel and the first gate assembly, first gate assembly Be configured to allow by the first end channel enter open position and prevent by the first end channel into Change between the closed position entered；And

The second end segment, the second end segment include

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

Second gate assembly, second gate assembly are configured in the open position for allowing to enter by the second end channel And it prevents to change between the closed position entered by the second end channel；And

Shoulder components, the shoulder components are fixed to the second arm component ontology an end, and can be in another end The anchor port fixed to the port assembly.

20. one kind is for executing the surgery system through natural cavity endoscopic surgery (NOTES), the surgery system includes:

End effector assembly, the end effector assembly include

First device assembly, first device assembly include

First instrument, first instrument is for executing surgery movement；And

Second device assembly, second device assembly include

Second instrument, second instrument is for executing surgery movement；And

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

The wrist connector part provided at the first end of the first arm component ontology, the wrist connector part can Configuration is to be fixed to the wrist units；

The first arm component driving assembly being accommodated firmly in the first arm component ontology, the first arm component driving group Part at least has the 4th integrated motor and the first arm component drive part, wherein the first arm component drive part can be by described 4th integrated motor control drives the first arm component ontology relative to the axis formed by the first arm component ontology Rotation.

21. surgery system as claimed in claim 20,

Wherein the end effector assembly further comprises the second device assembly, and second device assembly includes

Second instrument, second instrument is for executing surgery movement；And

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

22. surgery system as claimed in claim 20, wherein first arm component further comprises the second instrument driving group At least there is third to integrate motor and the second instrument drive part for part, second instrument drive assembly, wherein second device Tool drive part can be integrated motor control by the third come the drive when the wrist connector part is fixed to the wrist units Move second instrument driven portion.

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

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