CN113040912A

CN113040912A - Surgical device, surgical system, and method for operating surgical system

Info

Publication number: CN113040912A
Application number: CN202110231537.9A
Authority: CN
Inventors: 袁帅; 何超; 王家寅
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-03-02
Filing date: 2021-03-02
Publication date: 2021-06-29

Abstract

The invention provides a surgical device, a surgical system and a working method of the surgical system, wherein the surgical device comprises: a robot arm and a mounting substrate; the mounting substrate includes a path rail; the robot arm includes: the robot arm includes: a mechanical arm body joint; one end of the mechanical arm body joint is used for being installed on the path track and moving along the path track; the other end of the mechanical arm body joint is used for being connected with an operation end device. So dispose, the arm can the multiple different operation end device of adaptation, through changing the required operation end device of different operation operations, can carry out the execution of multiple operation operations under an operating room or a kind of operation environment to can realize the more universalization of operation system, reduce hospital and patient's medical cost, and realize the realization of more operation schemes through this mode.

Description

Surgical device, surgical system, and method for operating surgical system

Technical Field

The invention relates to the technical field of robot-assisted surgery, in particular to a surgical device, a surgical system and a working method of the surgical system.

Background

The appearance of surgical robots is in line with the development trend of precision surgery. Surgical robots have become powerful tools to assist physicians in performing surgery, and a variety of surgical robots suitable for different indications have been developed in multiple departments and in multiple fields.

The design concept of the surgical robot is to perform a complex surgical operation precisely and dexterously in a minimally invasive manner, with high precision and high safety. Under the condition that the traditional operation faces various limitations, a surgical robot is developed to replace the traditional operation, the surgical robot breaks through the limitation of human eyes, and the internal organs are more clearly presented to an operator by adopting a three-dimensional imaging technology. In the original area that the hand can not stretch into, the arm can accomplish 360 degrees rotations, move, swing or centre gripping to can avoid the shake. The patient has small wound, less bleeding and quick recovery, greatly shortens the hospitalization time after the operation, can obviously improve the survival rate and the recovery rate after the operation, is favored by doctors and patients, is taken as a high-end medical instrument at present, and is widely applied to various clinical operations.

However, the surgical robot devices that are already used in the market are all special devices, and based on the technical complexity and development cost of the surgical robot, one surgical robot is often very expensive, and the cost needs to be borne by the patient, thus the medical cost of the patient is increased; on the other hand, due to the non-universality between surgical robot devices and the difficulty in transporting surgical devices, the surgical robot devices are generally stored in a dedicated operating room, which also increases the cost of the hospital, and this situation also reduces the efficiency of the surgical robot in resolving other situations that may occur during a surgical operation.

Disclosure of Invention

The invention aims to provide a surgical device, a surgical system and a working method of the surgical system, and aims to solve the problems of high storage and use costs caused by strong specificity of the conventional surgical robot.

To solve the above technical problem, according to a first aspect of the present invention, there is provided a surgical device including: a robot arm and a mounting substrate;

the mounting substrate includes a path rail;

the robot arm includes: a mechanical arm body joint; one end of the mechanical arm body joint is used for being installed on the path track and moving along the path track;

the other end of the mechanical arm body joint is used for being connected with an operation end device.

Optionally, in the surgical device, the robotic arm further comprises a first position sensor for identifying and determining a position of the robotic arm.

Optionally, in the surgical device, the mounting substrate includes a second position sensor, and the second position sensor is communicatively connected to the first position sensor of the robotic arm, and is configured to determine a position of the robotic arm.

Optionally, the surgical device further includes a driving device, and the driving device is configured to drive the mechanical arm to move on the path track.

Optionally, in the surgical device, the robot arm body joint has at least four degrees of freedom for adjusting a spatial position or posture of the surgical tip device connected thereto.

Optionally, in the surgical device, the robotic arm includes a first adapter articulated with the robotic arm body, the first adapter being configured to interface with a surgical tip device; the first conversion adapter comprises a first communication interface for communicating with the surgical tip device connected thereto and/or a first identification device for identifying the type of the surgical tip device connected thereto.

In order to solve the above technical problem, according to a second aspect of the present invention, there is also provided a surgical system including a control device, a surgical device as described above, and a surgical tip device for articulating with the robot arm body to perform a surgical operation.

Optionally, in the surgical system, the surgical tip device includes: a terminal body and a second adapter; the second adapter is connected with the terminal body; the surgical end device is connected with the mechanical arm of the surgical device through the second adapter;

the control device is in communication connection with the surgical device; the control device is configured to: and controlling a mechanical arm of the surgical device to move to a preset position and position to a preset pose according to the type of the operation, acquiring corresponding control logic according to the type of the operation, and controlling the surgical device to execute the operation according to the control logic.

Optionally, in the surgical system, the surgical device includes at least two of the robotic arms, the surgical system includes at least two of the surgical end devices, and the control device is further configured to configure at least one of the robotic arms as a master device and configure at least one of the robotic arms as an auxiliary device according to the surgical category.

Optionally, the surgical system further comprises: an operating bed having a calibrated relative positional relationship with the mounting substrate.

In order to solve the above technical problem, according to a third aspect of the present invention, there is also provided a method of operating a surgical system, which utilizes the surgical system as described above; the working method of the surgical system comprises the following steps:

controlling a mechanical arm of the surgical device to move to a preset position according to the type of the surgery, and controlling the mechanical arm of the surgical device to swing to a preset pose; and

and acquiring corresponding control logic according to the operation type, and controlling the operation device to execute the operation according to the control logic.

Optionally, in the operation method of the surgical system, the control logic includes:

triggering and selecting a control logic packet according to the operation type; and

and matching a corresponding control program according to the operation type to control a mechanical arm of the operation device to execute preset actions.

Optionally, in the operation method of the surgical system, the control logic further includes:

according to the operation category, configuring at least one mechanical arm as a master control device, and configuring at least one mechanical arm as an auxiliary device; and

and respectively matching corresponding control programs for the main control device and the auxiliary device to respectively control the main control device and the auxiliary device to execute preset actions.

In summary, in the surgical device, the surgical system and the operating method of the surgical system according to the present invention, the surgical device includes: a robot arm and a mounting substrate; the mounting substrate includes a path rail; the robot arm includes: the robot arm includes: a mechanical arm body joint; one end of the mechanical arm body joint is used for being installed on the path track and moving along the path track; the other end of the mechanical arm body joint is used for being connected with an operation end device.

So configured, the robotic arm can be adapted to a variety of different surgical end devices, and by replacing the surgical end devices required for different surgical procedures, the performance of a variety of surgical procedures can be performed in one operating room or one surgical environment. Furthermore, the mechanical arm moves along the path track, can quickly and accurately move to a preset position and complete the positioning, so that the more generalization of the operation system can be realized, the medical cost of hospitals and patients is reduced, more operation schemes are realized through the mode, and the operation efficiency is improved.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1a is a schematic view of a robotic arm according to a first embodiment of the present invention;

FIG. 1b is a schematic view of another angle of the robotic arm shown in FIG. 1 a;

FIG. 2a is a schematic view of a surgical tip assembly according to a first embodiment of the present invention;

FIG. 2b is a schematic view of another angle of the surgical tip device shown in FIG. 2 a;

FIG. 2c is a schematic view of the surgical end device of FIG. 2a after attachment to a robotic arm;

FIG. 3a is a schematic view of a surgical tip device according to another preferred example of the embodiment of the present invention;

FIG. 3b is a schematic view of another angle of the surgical tip device shown in FIG. 3 a;

FIG. 3c is a schematic view of the surgical tip assembly of FIG. 3a after attachment to a robotic arm;

FIG. 4 is a schematic view of a surgical device and surgical tip assembly in accordance with a first embodiment of the present invention;

FIG. 5 is a schematic view of a surgical system according to a first embodiment of the present invention without the surgical tip assembly;

FIG. 6 is a schematic view of a surgical system incorporating a surgical tip assembly in accordance with a first embodiment of the present invention;

FIG. 7 is a logic diagram of a control logic hub for deploying a surgical embodiment in accordance with a first embodiment of the present invention;

FIG. 8 is a schematic diagram of control logic for deploying a surgical embodiment in accordance with a first embodiment of the present invention;

fig. 9 is a schematic view of a surgical scene of a surgical system according to a first embodiment of the present invention;

FIG. 10 is a diagrammatic view of a surgical system according to a second embodiment of the present invention without the surgical tip assembly;

FIG. 11 is a diagrammatic view of the surgical system of the second embodiment of the present invention with the surgical tip device assembled;

fig. 12a and 12b are schematic views of a mounting substrate of a second embodiment of the present invention;

fig. 13 is a surgical scene diagram of a surgical system according to a second embodiment of the present invention.

In the drawings:

1-a mechanical arm; 11-a mechanical arm base; 12-mechanical arm body joint; 121-first joint; 122-a second joint; 123-third joint; 124 a fourth joint; 13-a first crossover joint;

2-surgical tip device; 20-a terminal body; 21-a second crossover joint;

3-a surgical device; 31-a master control device; 32-an auxiliary device;

4-trolley; 41-a caster structure; 42-a trolley body; 43-a robotic arm interface; 5-doctor end console; 6-patient; 7-operating tables; 8-a control device;

9-a mounting substrate; 91-path track; 92-second position sensor.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this specification, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in its sense including "and/or," the terms "a" and "an" are generally employed in their sense including "at least one," the terms "at least two" are generally employed in their sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or at least two of such features, the term "proximal" generally being the end near the operator, the term "distal" generally being the end near the patient, i.e. near the lesion, the terms "end" and "proximal" and "distal" generally referring to the corresponding two parts, which include not only the end points, the terms "mounted", "connected" and "connected" being to be understood in a broad sense, e.g. as being fixedly connected, as well as detachably connected, or as an integral part; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in this specification, an element being disposed on another element generally only means that there is a connection, coupling, fit, or drive relationship between the two elements, and the connection, coupling, fit, or drive between the two elements may be direct or indirect through intermediate elements, and should not be understood as indicating or implying any spatial relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below, or to one side of another element, unless the content clearly dictates otherwise. The specific meanings of the above terms in the present specification can be understood by those of ordinary skill in the art as appropriate.

The following description refers to the accompanying drawings.

[ EXAMPLES one ]

Referring to fig. 1a to 9, wherein fig. 1a is a schematic view of a robot arm according to a first embodiment of the present invention; FIG. 1b is a schematic view of another angle of the robotic arm shown in FIG. 1 a; FIG. 2a is a schematic view of a surgical tip assembly according to a first embodiment of the present invention; FIG. 2b is a schematic view of another angle of the surgical tip device shown in FIG. 2 a; FIG. 2c is a schematic view of the surgical end device of FIG. 2a after attachment to a robotic arm; FIG. 3a is a schematic view of a surgical tip device according to another preferred example of the embodiment of the present invention; FIG. 3b is a schematic view of another angle of the surgical tip device shown in FIG. 3 a; FIG. 3c is a schematic view of the surgical tip assembly of FIG. 3a after attachment to a robotic arm; FIG. 4 is a schematic view of a surgical device and surgical tip assembly in accordance with a first embodiment of the present invention; FIG. 5 is a schematic view of a surgical system according to a first embodiment of the present invention without the surgical tip assembly; FIG. 6 is a schematic view of a surgical system incorporating a surgical tip assembly in accordance with a first embodiment of the present invention; FIG. 7 is a logic diagram of a control logic hub for deploying a surgical embodiment in accordance with a first embodiment of the present invention; FIG. 8 is a schematic diagram of control logic for deploying a surgical embodiment in accordance with a first embodiment of the present invention; fig. 9 is a schematic view of a surgical scene of a surgical system according to a first embodiment of the present invention.

As shown in fig. 1a and 1b, an embodiment of the present invention provides a robot arm 1, which includes: a robot arm body joint 12 and a first conversion joint 13; the mechanical arm body joint 12 is used for being installed at a desired installation position; the first adapter 13 is connected to the robot arm body joint 12 for connection to a second adapter 21 of the surgical tip device 2, as shown in fig. 2 a. The first adapter 13 is a universal type interface having a quick-change structure for achieving a quick-change connection with the surgical tip device 2 and enabling a stable connection. In an alternative embodiment, the first adapter 13 comprises a substantially rectangular recess for receiving the corresponding second adapter 21 for connection. So dispose, arm 1's first conversion joint 13 is general type interface, and it can adapt to the terminal device 2 of the operation of multiple difference, through changing the terminal device 2 of the operation that different operation operations need, can carry out the execution of multiple operation operations under an operating room or an operation environment to can realize the more universalization of operation system, reduce hospital and patient's medical cost, and realize the realization of more operation schemes through this mode, improve operation efficiency.

Further, the robot arm 1 further includes a robot arm base 11, and the robot arm base 11 is used for supporting the robot arm joint body 12 and for mounting the entire robot arm 1 at a desired mounting position, such as a ceiling of a trolley or an operating room.

Preferably, the robot arm body joint 12 has at least four degrees of freedom for adjusting the spatial position or posture of the surgical tip device 2 connected thereto. In the example shown in fig. 1, the first conversion joint 13 is located at the distal end of the robot arm body joint 12, and the arrangement of the four degrees of freedom of the robot arm body joint 12 enables adjustment of the spatial position and posture at the first conversion joint 13.

With continued reference to fig. 1a and 1b, and with reference to fig. 2c and 3c, an exemplary implementation of the four degrees of freedom of the robot arm body joint 12 will be described. The mechanical arm body joint 12 comprises a first joint 121, a second joint 122, a third joint 123 and a fourth joint 124 which are sequentially connected, wherein the first joint 121 is rotatably connected with the mechanical arm base 11 and is used for realizing the rotational freedom degree of the mechanical arm 1 around the mechanical arm base 11; the second joint 122 is rotatably connected with the first joint 121 and is used for realizing the up-and-down swinging freedom degree of the mechanical arm 1; the third joint 123 is rotatably connected with the second joint 122, and is used for realizing the left-right swinging freedom degree of the mechanical arm 1; the fourth joint 124 is rotatably connected with the third joint 123 and is used for realizing the up-and-down swinging freedom degree of the mechanical arm 1; the first adapter 13 is connected to the fourth joint 124. With such a configuration, the mechanical arm 1 has at least two degrees of freedom of up-and-down swinging, one degree of freedom of left-and-right swinging and one degree of freedom of rotation, and can realize the adjustment of the spatial position and the attitude at the first conversion joint 13. Of course, those skilled in the art can make other modifications and arrangements to the joints and degrees of freedom of the robot arm body joint 12 according to the prior art, and the invention is not limited thereto.

Preferably, the first switching head 13 comprises a first communication interface for communicating with the surgical tip device 2 connected thereto and/or a first identification device for identifying the type of the surgical tip device 2 connected thereto. The first communication interface or first identification means may be arranged as required to enable identification of the particular type of surgical tip device 2 by the robotic arm 1 and even by the surgical system. The first communication interface and/or the first identification device may be a non-contact sensor such as a hall sensor, or may be a contact signal conducting device such as a pogo pin, which can be reasonably configured by those skilled in the art according to the prior art.

The present embodiment provides a surgical tip device 2, including: a terminal body 20 and a second adapter 21; one end of the second adapter 21 is used to connect to the tip body 20, and the other end is used to connect to the first adapter 13 of the robot arm 1 as described above. As shown in fig. 2 a-2 c, in one example, the surgical end device 2 may be an endoscopic surgical end device, with an end body 20 for holding/attaching an endoscope. The specific structure of the endoscopic surgical tip device can be understood by those skilled in the art based on the prior art, and will not be described herein. The second adapter 21 is preferably arranged on the back plate side of the tip body 20 in the radial direction of the tip body 20.

Preferably, the second adapter 21 comprises a substantially rectangular projection, the shape of which matches the shape of the recess of the first adapter 13, and the projection of the second adapter 21 is adapted to be inserted into the recess of the first adapter 13 to achieve a quick-fit connection. Of course, the recesses and projections of the first adapter 13 and the second adapter 21 can also be interchanged, i.e. the projections are provided on the first adapter 13 and the recesses are provided on the second adapter 21. In addition, the shape of the bumps and wells is not limited to being substantially rectangular, as other polygonal or irregular shapes are possible. Those skilled in the art can also make other configurations of the adapter according to the prior art to enable the quick change connection between the first adapter 13 and the second adapter 21. The invention is not limited in this regard.

As shown in fig. 3a to 3c, in another example, the surgical tip device 2 may be a surgical tip device for orthopedic surgery, and the tip body 20 thereof is used for holding/connecting an orthopedic surgical tool such as a drill or the like. The specific structure of the orthopedic surgical tool can be understood by those skilled in the art according to the prior art, and will not be described herein. Preferably, the second adapter 21 is arranged in a radial direction of the tip body 20. The structure of the second adapter 21 is similar to the exemplary embodiment shown in fig. 2a to 2c and will not be described again here. It will be appreciated that the surgical tip device 2 may also be another type of surgical tip, and that in use the operator may effect a quick change of function by quickly fitting different types of surgical tip devices 2 to the robotic arm 1.

Preferably, the second adapter 21 comprises a second communication interface for communicating with the robot arm 1 connected thereto and/or a second identification device for identifying the robot arm 1 connected thereto. The second communication interface and/or the second recognition device may be a non-contact sensor such as a hall sensor, or may be a contact signal transmission device such as a pogo pin, and the second communication interface and the second recognition device may be adapted to the first communication interface and the first recognition device, so that the robot arm 1 may recognize the type of the surgical tip device 2.

Referring to fig. 4, based on the robot arm 1, the present embodiment further provides a surgical device 3, which includes the robot arm 1 and the trolley 4, wherein the robot arm 1 is mounted on the trolley 4, and the trolley 4 is used for adjusting the position of the robot arm 1 through its own movement.

In an alternative embodiment, the trolley 4 includes a caster structure 41, a trolley body 42, and a robot arm interface 43; the caster wheel structure 41 can realize the movement of the trolley in any direction, including the in-situ rotation, and can realize the locking at any position so as to ensure the stability of the trolley 4; the robot interface 43 is used to realize a fixed connection with the robot 1.

Preferably, said robot arm 1 or said trolley 4 further comprises a first position sensor for communicating with a second position sensor (described in detail below) of the operating bed 6 for identifying and determining the position of said robot arm 1. The first position sensor may be mounted on the robot arm base 11, or on the trolley 4, for example. If the first position sensor is mounted on the robot arm base 11, the control device of the surgical system can directly acquire the position information of the robot arm 1. If the first position sensor is mounted on the trolley 4, the first position sensor should have a fixed relative positional relationship with the robot interface 43, so that the control device can be mapped to the positional relationship of the robot 1 by the positional information of the trolley 4.

Further, the carriage 4 includes a driving device (not shown) that can drive the carriage 4 to move in any direction and can lock the position of the carriage 4.

The present embodiment also provides a surgical system including a control device 8 (shown in fig. 7 below), a surgical device 3 as described above, and a surgical tip device 2 as described above; the surgical end device 2 is connected with the mechanical arm 1 of the surgical device 3 through the second conversion joint 21 and the first conversion joint 13, and the control device 8 is connected with the surgical device 3 in a communication way; the control device 8 is configured to: controlling the trolley 4 of the surgical device 3 to move to a preset position according to the type of the operation, controlling the mechanical arm 1 of the surgical device 3 to swing to a preset pose, acquiring corresponding control logic according to the type of the operation, and controlling the surgical device 3 to execute the operation according to the control logic. Referring to fig. 5 and 6, in an exemplary embodiment, the surgical system includes at least two of the surgical devices 3 and at least two of the surgical tip devices.

Further, the surgical system further comprises: an operation table 7, said operation table 7 comprising a second position sensor in communication connection with said control device 8, said second position sensor being adapted to be in communication connection with said first position sensor of said operation device 3 for said control device 8 to determine the position of said operation device 3 relative to said operation table 7. The second position sensor and the first position sensor are capable of determining a relative position therebetween by communicating with each other. Optionally, the communication between the second position sensor and the first position sensor is wireless communication, for example, communication may be performed by optical or radio wave. The second position sensor and the first position sensor may be optical positioning device and optical target, magnetic positioning device and magnetic target, etc. as position sensors commonly used in the art. The person skilled in the art can pair the second position sensor and the first position sensor according to the prior art to realize the positioning of the first position sensor by the second position sensor. Thus, the surgical device 3 can position the patient 6 on the operating table 7, thereby performing the surgical operation.

Based on the above surgical system, the present embodiment further provides a working method of the surgical system, which includes:

step S1: controlling the trolley 4 of the surgical device 3 to move to a preset position according to the type of the surgery, and controlling the mechanical arm 1 of the surgical device 3 to swing to a preset pose; and

step S2: and acquiring corresponding control logic according to the operation type, and controlling the operation device 3 to execute the operation according to the control logic.

The surgical category here may be laparoscopic surgery, orthopedic surgery, neurosurgery, gynecologic surgery, general surgery, etc., and the predetermined position of the carriage 4 of the surgical device 3 is different according to the surgical category. After the operation type is determined, the control device 8 may perform calculation according to its built-in control logic center, obtain corresponding control logic, and control the operation device 3 to perform the operation according to the control logic. The control logic hub can comprise a plurality of operation control programs, and the corresponding control programs can be automatically matched according to the operation types.

Further, referring to fig. 7, the control logic includes:

step S21: triggering and selecting a control logic packet according to the operation type; and

step S22: and matching a corresponding control program according to the operation type to control the mechanical arm 1 of the operation device 3 to execute preset actions.

The control logic package is mainly a set of a series of control steps matched with the surgical category, and comprises corresponding control programs, and is mainly used for controlling the mechanical arm 1 to execute the surgical operation according to a preset sequence. Preferably, during the logic selection process of the whole control logic, the operation of the whole logic can be protected through the safety strategy S23 so as to realize the safety of the operation. The specific configuration of the security policy S23 can be selected according to the prior art and will not be described here.

Optionally, referring to fig. 8, the control logic further includes:

step S24: configuring at least one of the surgical devices 3 as a master device 31 and at least one of the surgical devices 3 as an auxiliary device 32 according to the surgical category; and

step S25: and respectively matching corresponding control programs for the main control device and the auxiliary device to respectively control the mechanical arm of the main control device and the mechanical arm of the auxiliary device to execute preset actions.

In some embodiments, the master control device 31 is a device for performing a surgical operation, such as a surgical tip with a robotic arm carrying electric scissors; the auxiliary device 32 is mainly a device that assists the main control device 31, and includes a robot arm for mounting an operation end such as an endoscope. The control device 8 can adaptively select and automatically configure the respective main control device 31 and auxiliary device 32 so that the recommended selection can be given according to the surgical needs without the need for selection by the doctor or the remaining operator. Of course, in other embodiments, when the doctor has the operation habit of himself, the doctor can input the operation habit into the control device 8 to realize the subsequent targeted recommendation.

Referring to fig. 9, which shows a schematic view of an operation scene of a surgical system, preferably, the surgical system further includes a doctor-side console 5, and the control device 8 can be integrated in the doctor-side console 5, and the doctor-side console 5 can establish a master-slave control relationship with the surgical devices 3, so as to facilitate a doctor to operate and control each surgical device 3.

[ example two ]

The operation method of the surgical device, the surgical tip device, the surgical system, and the surgical system according to the second embodiment of the present invention is basically the same as the operation method of the surgical device, the surgical tip device, the surgical system, and the surgical system according to the first embodiment, and the same portions will not be described again, and only different points will be described below.

Referring to fig. 10 to 13, fig. 10 is a schematic view of a surgical system according to a second embodiment of the present invention without a surgical end device; FIG. 11 is a diagrammatic view of the surgical system of the second embodiment of the present invention with the surgical tip device assembled; fig. 12a and 12b are schematic views of a mounting substrate of a second embodiment of the present invention; fig. 13 is a surgical scene diagram of a surgical system according to a second embodiment of the present invention.

In the second embodiment, the surgical device, the surgical system and the working method of the surgical system are different from those of the first embodiment. Specifically, referring to fig. 10, a second embodiment of the present invention provides a surgical device, which includes a robot arm 1 and a mounting substrate 9, where the mounting substrate 9 includes a path track 91; the robot arm 1 includes a robot arm body joint 12, and unlike the robot arm body joint 12 in the first embodiment, one end of the robot arm body joint 12 in this embodiment is configured to be mounted on the path rail 91 and configured to move along the path rail 91; the other end of the mechanical arm body joint 12 is used for connecting with the operation end device 2. Preferably, the robot arm 1 comprises a first adapter 13 connected to the robot arm body joint 12, the first adapter 13 being adapted to be connected to a second adapter 21 of the surgical tip device 2. Alternatively, the mounting base plate 9 may be arranged on the ceiling of the operating room, or may be suspended above the operating bed 7 by a support structure. So configured, the robot arm 1 can move along the path rail 91, and can move to a predetermined position quickly and accurately and perform positioning.

Referring to fig. 12a and 12b, which illustrate an exemplary embodiment of the path track 91, the path track 91 may include a translational track and a circular track, and the circular track and the translational track are crossed with each other. Preferably, the paths are communicated with each other to realize the mutual exchange and cooperation of the positions of the mechanical arms 1. It should be noted that the path track 91 shown in fig. 12a and 12b is only an exemplary example and is not limited to the path track 91, and those skilled in the art can make different settings for the path track 91 according to actual needs to meet different needs.

Optionally, the robot arm 1 further comprises a first position sensor (not shown in the figures) for identifying and determining the position of the robot arm 1. Further, the mounting substrate 9 includes a second position sensor 92, and the second position sensor 92 is communicatively connected to the first position sensor of the robot arm 1 for determining the position of the robot arm 1.

The first position sensor may be mounted on the robot base 11, for example, and typically, the position of the mounting substrate 9 in the operating room is fixed and has known position information, while the position information of the second position sensor 92 on the mounting substrate 9 may be predicted. Thus, the control device 8 of the surgical system can determine the position of the robotic arm 1 by obtaining the position information of the first position sensor through the communication connection of the second position sensor 92 with the first position sensor.

Referring to fig. 11, in some embodiments, the second position sensor 92 may also be disposed on a trolley 4, preferably, the control device 8 of the surgical system may also be disposed on the trolley 4, and the position information of the second position sensor 92 may be obtained with the preoperative calibration, so that the control device 8 may also obtain the position information of the first position sensor through the second position sensor 92 to determine the position of the robotic arm 1. Further, the surgical system further comprises an operating bed 7, and the operating bed 7 and the mounting substrate 9 have a calibrated relative position relationship, so as to determine the relative position relationship between the mechanical arm 1 and the operating bed 7.

Optionally, the surgical device 9 further includes a driving device (not shown) for driving the robotic arm 1 to move on the path track 91. The driving device may be a motor or other driving devices commonly used in the art, but the invention is not limited thereto.

Based on the surgical device, the surgical system provided by the second embodiment is different from the surgical system provided by the first embodiment. Specifically, in the surgical system provided in the second embodiment, the control device 8 is configured to: and controlling the mechanical arm 1 of the surgical device to move to a preset position in the path track 91 and to be positioned to a preset pose according to the type of the operation, acquiring corresponding control logic according to the type of the operation, and controlling the surgical device to execute the operation according to the control logic. Unlike the first embodiment, in the second embodiment, the mounting board 9 of the surgical device is generally fixed, and therefore the control device 8 directly controls the robot arm 1 to move.

Preferably, the surgical device includes at least two robotic arms 1, the surgical system includes at least two surgical end devices 2, and the control device 8 is further configured to configure at least one robotic arm 1 as a master device 31 and at least one robotic arm 1 as a slave device 32 according to the surgical category. Unlike the first embodiment, since the mounting board 9 of the surgical device of the second embodiment is generally fixed, the control device 8 does not generally control the mounting board 9, and different robot arms 1 may be directly arranged as the main control device 31 or the auxiliary device 32.

Based on the surgical system, the working method of the surgical system provided in the second embodiment is slightly different from the working method of the surgical system provided in the first embodiment. Specifically, the working method of the surgical system provided by the second embodiment includes:

step S1 a: according to the operation type, controlling the mechanical arm 1 of the operation device to move to a preset position, and controlling the mechanical arm 1 of the operation device to swing to a preset pose; and

step S2 a: and acquiring corresponding control logic according to the operation type, and controlling the operation device to execute the operation according to the control logic.

Further, the control logic comprises:

step S24 a: according to the operation type, at least one mechanical arm 1 is configured as a master control device 31, and at least one mechanical arm 1 is configured as an auxiliary device 32; and

step S25 a: corresponding control programs are respectively matched for the main control device 31 and the auxiliary device 32 so as to respectively control the main control device 31 and the auxiliary device 32 to execute preset actions.

The control logic of the second embodiment is substantially the same as the control logic of the first embodiment, and reference may be made to the description of the control logic of the first embodiment, which is not repeated here.

Referring to fig. 13, which shows a schematic view of an operation scene of the second embodiment of the surgical system, preferably, the surgical system further includes a doctor end console 5, the control device 8 may be integrated in the doctor end console 5, and the doctor end console 5 can establish a master-slave control relationship with each mechanical arm 1 of the surgical device, so as to facilitate a doctor to operate and control each mechanical arm 1.

It should be noted that, in some embodiments, the surgical devices of the first and second embodiments may be used in combination with each other, for example, a portion of the robot arm 1 may be mounted on the path rail 91 of the mounting substrate 9, and another portion of the robot arm 1 may be mounted on the trolley 4, and the two portions of the robot arms 1 may be controlled by the same control device 8 to cooperatively complete the surgery, which is not limited by the present invention.

As described above, in the surgical device, the surgical system, and the operating method of the surgical system according to the present invention, the surgical device includes: a robot arm and a mounting substrate; the mounting substrate includes a path rail; the robot arm includes: the robot arm includes: a mechanical arm body joint; one end of the mechanical arm body joint is used for being installed on the path track and moving along the path track; the other end of the mechanical arm body joint is used for being connected with an operation end device. So configured, the robotic arm can be adapted to a variety of different surgical end devices, and by replacing the surgical end devices required for different surgical procedures, the performance of a variety of surgical procedures can be performed in one operating room or one surgical environment. Furthermore, the mechanical arm moves along the path track, can quickly and accurately move to a preset position and complete the positioning, so that the more generalization of the operation system can be realized, the medical cost of hospitals and patients is reduced, more operation schemes are realized through the mode, and the operation efficiency is improved.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims

1. A surgical device, comprising: a robot arm and a mounting substrate;

the mounting substrate includes a path rail;

2. The surgical device of claim 1, wherein the robotic arm further comprises a first position sensor for identifying and determining a position of the robotic arm.

3. The surgical device of claim 2, wherein the mounting substrate includes a second position sensor communicatively coupled to the first position sensor of the robotic arm for determining the position of the robotic arm.

4. The surgical device of claim 1, further comprising a drive device for driving the robotic arm to move on the path track.

5. The surgical device according to claim 1, wherein the robotic arm body joint has at least four degrees of freedom for adjusting a spatial position or pose of the surgical tip device connected thereto.

6. The surgical device of claim 1, wherein the robotic arm includes a first transition joint articulated with the robotic arm body, the first transition joint for interfacing with the surgical tip device; the first conversion adapter comprises a first communication interface for communicating with the surgical tip device connected thereto and/or a first identification device for identifying the type of the surgical tip device connected thereto.

7. A surgical system comprising a control device, a surgical device according to any one of claims 1 to 6 and a surgical tip device for connection with the robotic arm to perform a surgical operation.

8. The surgical system of claim 7, wherein the surgical tip device comprises: a terminal body and a second adapter; the second adapter is connected with the terminal body; the surgical end device is connected with the mechanical arm of the surgical device through the second adapter; the control device is in communication connection with the surgical device; the control device is configured to: and controlling a mechanical arm of the surgical device to move to a preset position and position to a preset pose according to the type of the operation, acquiring corresponding control logic according to the type of the operation, and controlling the surgical device to execute the operation according to the control logic.

9. The surgical system of claim 7, wherein the surgical device includes at least two robotic arms, the surgical system includes at least two surgical end devices, and the control device is further configured to configure at least one of the robotic arms as a master device and at least one of the robotic arms as a slave device according to the surgical category.

10. The surgical system of claim 7, further comprising: an operating bed having a calibrated relative positional relationship with the mounting substrate.

11. A method of operating a surgical system, characterized by using a surgical system according to any one of claims 7-10; the working method of the surgical system comprises the following steps:

12. The method of operation of a surgical system of claim 11, wherein the control logic comprises:

13. The method of operation of a surgical system of claim 11, wherein the control logic further comprises: