CN114073583A - Urinary surgery operation machine and operation robot - Google Patents

Abstract

The invention relates to the field of medical instruments, and discloses a urological surgery machine and a surgical robot, wherein the urological surgery machine comprises: the robot system comprises a plurality of mechanical arms, wherein the distal end parts of the mechanical arms can enter a patient body from an incision or a natural cavity, the distal end parts of the mechanical arms comprise a first flexible section and a second flexible section, the first flexible section and the second flexible section are provided with accommodating cavities which are communicated with each other, the distal ends of the first flexible sections are connected with an end effector and/or a camera device, the end effector is arranged to carry out operation, and the camera device is arranged to obtain images, so that the operation machine is small in size and can achieve extremely high degree of freedom configuration in a small-size space range.

Description

Urinary surgery operation machine and operation robot

Technical Field

The invention relates to the field of medical instruments, in particular to a urological surgery machine and a surgical robot.

Background

The urinary tract is a toxin expelling system of human beings, a plurality of toxins and sediments exist in the urine, the urine enters the urinary tract through the kidney filtration, and in the metabolism process, the kidney and the urinary tract often form sediments to cause kidney and urinary tract stones for a long time. The main treatment range of urology surgery includes various urinary calculi and complicated kidney calculi, kidney and bladder tumors, prostatic hyperplasia and prostatitis, inflammation and tumor of testicle epididymis, etc. For urinary surgery requiring intervention treatment, an endoscope is often used in the operation, and then a surgical instrument is matched to perform the operation.

Traditional rigidity surgical instruments is mostly long and thin rod-shaped structure, its end is provided with the operation executor, rod-shaped structure is articulated through many pole pieces series connection, adopt wire rope pulling force drive, make surgical instruments realize the turn in articulated joint department, because rigidity surgical instruments size is great, to the urology surgery operation, use the operation instruments that the size is bigger than normal, not only influence the intuitionistic nature in operation field, increase the degree of difficulty and the complexity of operation time and operation, easily cause the pulling of local tissue moreover, make the healing of postoperative less easy. In addition, due to the complex hand-eye cooperative operation requirement, the traditional rigid surgical instrument has the defects of limited flexibility, small working range and the like, and further limits the popularization and application of the instrument. With the research and development of surgical robot systems, flexible mechanical arms are used to replace traditional rigid surgical instruments, so that the degree of freedom and flexibility of the surgical instruments are greatly improved, and the flexibility of instrument movement is improved.

Disclosure of Invention

In view of the above problems, it is an object of the present invention to provide a urological surgical machine which is small in size and can be configured with an extremely high degree of freedom in a small dimensional space; another object of the invention is to provide a surgical robot comprising the surgical machine.

In order to achieve the purpose, the invention adopts the following technical scheme:

a urological surgical machine comprising: a plurality of robotic arms, distal portions of the plurality of robotic arms configured to enter a patient from an incision or natural orifice;

the distal portion of the robotic arm comprises a first flexible segment at a distal end and a second flexible segment at a proximal end, the first flexible segment having a maximum bend angle greater than a maximum bend angle of the second flexible segment;

the first flexible section and the second flexible section are provided with accommodating cavities which are communicated with each other;

the distal end of the first flexible segment is provided with an end effector and/or a camera device, the end effector is configured to enable surgical operations to be performed, and the camera device is configured to enable images to be acquired.

As a preferred aspect of the continuum transmission mechanism of the present invention, the distal portion of the robotic arm further comprises a flexible continuum structure disposed throughout the first flexible segment and the second flexible segment.

As a preferable aspect of the continuum transmission mechanism of the present invention, the flexible continuum structure comprises at least one continuum segment;

the continuum segment comprises a basal disc, a stopping disc and a structural bone;

the basal disc and the stop disc are arranged in the accommodating cavity at intervals, the proximal end of the structural bone penetrates through the basal disc, and the distal end of the structural bone is fixedly connected with the stop disc;

the stop disc is connected with the end effector and/or the camera device.

As a preferable scheme of the continuum transmission mechanism of the invention, the first flexible segment comprises a plurality of snake bone joints which are connected in sequence, each snake bone joint is provided with a groove and a protrusion, and the protrusion of one snake bone joint can be clamped into the groove of another adjacent snake bone joint.

As a preferable scheme of the continuum transmission mechanism of the present invention, the second flexible segment is a tube body, a plurality of slit units are arranged on a tube wall of the second flexible segment at intervals along an extending direction of the second flexible segment, each slit unit includes a plurality of arc-shaped slits, and the arc-shaped slits extend along a circumferential direction of the second flexible segment.

As a preferable aspect of the continuum transmission mechanism of the present invention, the continuum segment further includes a plurality of spacer plates disposed at intervals between the base plate and the stop plate, and the structural bone sequentially passes through each of the spacer plates in a circumferential direction.

As a preferable aspect of the continuum transmission mechanism of the present invention, the flexible continuum structure includes two of the continuum segments;

the number of the structural bones of each continuum segment is 4.

As a preferable scheme of the continuous body transmission mechanism, the structural bone is an elastic thin rod or a thin tube made of super elastic materials.

As a preferable scheme of the continuum transmission mechanism of the invention, joint linkage devices are arranged at the near ends of the plurality of mechanical arms;

the joint linkage has at least one joint.

A surgical robot comprising a urological surgical machine as described above.

The invention has the beneficial effects that:

due to the adoption of the technical scheme, the invention has the following advantages: 1. compared with the traditional rigid motion chain which realizes bending motion by mutual rotation at joints, the urinary surgery operation machine provided by the invention adopts the flexible continuum structure, the flexible continuum structure realizes bending deformation of a far-end structure by deformation of a near-end structure of the flexible continuum structure, and a main structure body of the flexible continuum structure simultaneously becomes a driving transmission structure, so that extremely high degree of freedom configuration can be realized in a small-size space range. 2. The urological surgery machine provided by the invention comprises a first flexible section and a second flexible section, wherein the first flexible section is of a snake bone structure and has better bending degree, so that the working position and posture required by the surgery can be conveniently and smoothly completed; the plurality of slit units are arranged on the pipe wall of the second flexible section at intervals along the extension direction of the second flexible section, so that when the surgical tool enters a human body through the sheath, certain pre-bending can be generated according to the bending condition in the pipe cavity under the condition of considering the structural rigidity of the pre-bending section, and certain adaptive bending can be generated when the first flexible section is actively bent, the rigidity requirement and the flexibility requirement of the surgical tool can be met simultaneously, the surgical operation difficulty is reduced, the surgical tool is prevented from being worn, bent or damaged, and the service life of the surgical tool is prolonged; the rigid section provides rigid acting force for the first flexible section and the second flexible section to smoothly extend to a target operation area in a human body.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

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

FIG. 2 is a schematic view of a portion of a surgical robot according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a sheath construction provided in accordance with an embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of a portion of a sheath provided in accordance with an embodiment of the present invention;

FIG. 5 is a partial schematic view of a sheath provided in accordance with an embodiment of the present invention;

FIG. 6 is a partial schematic view of a sheath and outer tube according to an embodiment of the invention;

FIG. 7 is a schematic view of a sheath and outer tube in accordance with an embodiment of the present invention;

FIG. 8 is a schematic diagram of the construction of first and second flexible segments provided by an embodiment of the present invention;

FIG. 9 is a schematic structural view of a flexible continuum structure provided by embodiments of the present invention;

FIG. 10 is a schematic diagram of a first compliant segment according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of a snake bone joint provided by an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a slit unit according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The definition in the present invention is that the end near the operator is the proximal or posterior end, and the end near the surgical patient is the distal or anterior end.

As shown in fig. 1, 2, 8 and 9, the present embodiment provides a urological surgical machine including: a plurality of robotic arms 1, distal portions of the plurality of robotic arms 1 being configured to enter a patient from a smaller incision or natural orifice. Among them, a smaller incision refers to, for example, an incision when urinary surgery is performed, which is smaller than a conventional laparoscopic surgery incision for general surgery. The distal portion of the robotic arm 1 comprises a first flexible segment 2 at the distal end, a second flexible segment 3 at the proximal end, and a flexible continuum structure disposed throughout the first flexible segment 2 and the second flexible segment 3, the first flexible segment 2 having a maximum bend angle greater than the maximum bend angle of the second flexible segment 3. The flexible continuum structure comprises at least one continuum segment 4, the continuum segment 4 comprising a base plate 41, a stop plate 42 and a structural bone 43. Specifically, the proximal end of the first flexible segment 2 is fixedly connected with the distal end of the second flexible segment 3, the first flexible segment 2 and the second flexible segment 3 are provided with accommodating cavities which are communicated with each other, the flexible continuous body structure extends from the distal end of the first flexible segment 2 to the proximal end of the second flexible segment 3 and then is connected with the driving mechanism, the base disc 41 and the stop disc 42 are arranged in the accommodating cavities at intervals, the proximal end of the structural bone 43 penetrates through the base disc 41, and the distal end of the structural bone 43 is fixedly connected with the stop disc 42. It should be understood that one continuum segment 4, two continuum segments 4, or more continuum segments 4 may be used in a robot arm 1, wherein the more the number of continuum segments 4, the more the degree of freedom of bending of the robot arm 1, and the more flexible the movement of the robot arm 1. The stop plate 42 is connected to an end effector configured to perform a surgical procedure and/or a camera device configured to capture images. The bending angle of the first flexible section 2 is larger, so that the first flexible section 2 can be more flexibly bent than the second flexible section 3 under the driving of the flexible continuum, and the end effector and/or the camera device can be smoothly driven to reach a target position, so that the surgical operation can be conveniently carried out.

In operation, since the base plate 41 is fixed, when the driving mechanism drives the push-pull structural bone 43 to move, the structural bone 43 is pulled at one side of the proximal end so that the length of the corresponding structural bone 43 in the continuum segment 4 is increased, and the other side of the corresponding structural bone 43 is pressed so that the length of the corresponding structural bone 43 in the continuum segment 4 is decreased, but the total length of each structural bone 43 is not changed, so that the structural bone 43 is reversely bent at the distal end, thereby adjusting the position of the end effector or the camera.

Preferably, the urological surgery machine has three mechanical arms 1, wherein the distal ends of two mechanical arms 1 are connected with an end effector, the distal end of the other mechanical arm 1 is connected with a camera device, each mechanical arm 1 can enter the body of a patient through the same incision, and the motion of each mechanical arm 1 does not interfere with each other. Specifically, the end effector may be a clamp, an electric hook, scissors or a grasper, and the image capturing device may be an endoscope for capturing a visual field image of the inside of the patient. It should be understood that the robotic arms 1 of the urological surgical machine may also be two or other number, wherein the distal end of one robotic arm 1 is connected with a camera device, and the distal ends of the other robotic arms 1 are connected with an end effector.

In the present embodiment, specifically, the distal end portion of each robot arm 1 is provided with the end effector and the imaging device mutually movable with each other. It is understood that when the distal end portion of the robot arm 1 is provided with both the end effector and the imaging device, the end effector and the imaging device can move independently of each other, and the imaging device adjusts the position and posture thereof to capture the visual field image of the patient, and then adjusts the end effector to the target position, so that the surgical operation can be performed smoothly.

In the present embodiment, as shown in fig. 8 and 10, the first flexible segment 2 is a snake bone structure, and has a good bending degree, so as to smoothly complete the adjustment of the working position and posture required by the operation. For assembly, optionally, as shown in fig. 10 and 11, the first flexible segment 2 comprises a plurality of snake bone joints 21 connected in sequence, each snake bone joint 21 is provided with a groove 211 and a projection 212, and the projection 212 of one snake bone joint 21 can be clamped into the groove 211 of another adjacent snake bone joint 21. Wherein the groove 211 and the protrusion 212 are arranged in a staggered manner. All the snake bone joints 21 form a motion joint, the motion joint is driven by the structural bone 43 of the flexible continuous body structure to bend, and the motion direction of the motion joint is consistent. It will be appreciated that the first flexible segment 2 may also be of a bellows construction, again with a good bending capacity.

In the above embodiment, preferably, as shown in fig. 8 and 12, the second flexible segment 3 is a pipe body, and a plurality of slit units are arranged on the pipe wall of the second flexible segment 3 at intervals along the axial extension direction of the second flexible segment, each slit unit includes a plurality of arc-shaped slits 31, and the arc-shaped slits 31 extend along the circumferential direction of the second flexible segment 3. Specifically, the slit unit and the arc slit 31 are arranged to facilitate a certain degree of pre-bending of the second flexible segment 3 while taking structural rigidity of the second flexible segment 3 into consideration. The distal end portion of arm 1 can be guaranteed when getting into the human body through stabbing card or sheath to the crooked situation of adaptation intracavity produces certain pre-bending, and can produce certain adaptability when first flexible section 2 takes place the initiative and bend, can satisfy surgical instruments's rigidity demand and flexible demand simultaneously, has reduced the operation degree of difficulty, can also avoid wearing and tearing, the bending or the damage of arm 1, has increased arm 1's life.

For making the second flexible segment 3 receive more even force when crooked, preferably, a plurality of arcuation slits 31 of every slit unit are along the axial extending direction interval and the dislocation set of second flexible segment 3 in proper order, and when second flexible segment 3 did not produce bending deformation, a plurality of arcuation slits 31 can form complete closed circle along the axial projection of second flexible segment 3 to guarantee that second flexible segment 3 can all be crooked in all directions. Alternatively, the plurality of arc-shaped slits 31 are sequentially offset by a certain angle in the circumferential direction of the second flexible segment 3, preferably by 90 ° for example, it is understood that the plurality of arc-shaped slits 31 may also be offset by 75 °, 60 ° or other angles, etc. In order to ensure the bending ability while taking into account the structural rigidity of the second flexible segment 3, it is preferred that the arc length of each arcuate slit 31 is half the circumference of the second flexible segment 3. It will be appreciated that the arc length of each arc-shaped slit 31 may also be other proportions of the circumference of the second flexible segment 3, such as three quarters of a circumference or one quarter of a circumference etc. In the present embodiment, each slit unit includes four arc-shaped slits 31, and similarly, each slit unit may further include three, five, etc. arc-shaped slits 31 without departing from the scope of the present invention.

In this embodiment, as shown in fig. 9, the continuum segment 4 further includes a plurality of spacing discs 44 arranged between the base disc 41 and the stop disc 42 at intervals, and the structural bone 43 sequentially penetrates through each spacing disc 44 along the circumferential direction. Specifically, each structural bone 43 passes through the base plate 41 at the proximal end in the circumferential direction and then sequentially passes through the plurality of spacer plates 44 at the distal end in the circumferential direction, the plurality of spacer plates 44 being disposed on the stop plate 42 in the circumferential direction, and the plurality of spacer plates 44 are used for supporting the structural bone 43 from the radial direction of the structural bone 43, so that the structural bones 43 are kept in a parallel state during the bending deformation process, and the structural bone 43 is prevented from being unstable during the bending movement.

Preferably, the flexible continuum structure comprises two continuum segments 4. The number of structural bones 43 of each continuum segment 4 is four. Specifically, the base plate 41 of the distal continuum segment 4 is fixedly connected to the stop plate 42 of the proximal continuum segment 4, and the structural bone 43 of the distal continuum segment passes through the stop plate 42 of the proximal continuum segment 4, the plurality of spacer plates 44 and the base plate 41 in this order, and then is connected to the driving mechanism. It will be appreciated that two continuum segments 4 are provided to ensure that the robotic arm 1 has multi-segment bending capability. Since the urinary surgery incision is generally small, the robot arm 1 of a small size needs to be used, and therefore, four structural bones 43 are provided, which not only can ensure that the robot arm 1 is small in size, but also can realize high degree of freedom in configuration.

In this embodiment, the structural bone 43 is an elastic thin rod or tube made of super elastic material. For example, a high-strength, high-toughness, elastic metal material such as nickel-titanium alloy is generally used.

In this embodiment, as shown in fig. 1, the proximal ends of the plurality of robot arms 1 are provided with a joint linkage 101, and the joint linkage 101 has at least one joint. Particularly, the joint linkage device 101 is kept motionless in the operation process, the joint linkage device 101 can include a plurality of rotary joints, position lifting joints and telecentric motionless position adjusting joint groups, the horizontal direction, the vertical direction and the side-swinging position adjustment of the mechanical arm 1 can be realized through each joint, and then the position adjusting requirement of the mechanical arm 1 before the operation is met, so that the operation work can be conveniently unfolded.

The present embodiment also provides a surgical robot, including the urological surgical machine in the above embodiments, which can be used for urological surgical operations. In practice, a single port laparoscopic procedure is performed to reduce the number of patient incisions by inserting a sheath having multiple passageways through a smaller incision and then adjusting the position of the robotic arms 1 to extend the distal portion of each robotic arm 1 through the passageway of the sheath into the patient. It will be appreciated that the multiple robotic arms 1 of the urological surgical machine may be provided on the same surgical trolley, or may be provided on different surgical trolleys.

As shown in fig. 2, 3 and 6, in the above embodiment, optionally, the surgical robot further includes: a sheath 5 and an outer tube 6. The sheath 5 comprises a connecting portion 51 and an extending portion 52 fixedly connected to each other, the connecting portion 51 being located at a proximal end for connection to a surgical robot, the extending portion 52 being located at a distal end for extending into the patient, the connecting portion 51 and the extending portion 52 being provided with a plurality of instrument channels 53 extending therethrough along a longitudinal axis and arranged at radial intervals, and a distal end portion of the robotic arm 1 extending through the instrument channels 53 and into the patient. The plurality of instrument channels 53 of the connecting portion 51 are disposed adjacent at the distal end and gradually move away from each other from the distal end toward the proximal end, thereby avoiding interference between the robot arms.

In one embodiment, as shown in fig. 2 to 7, in particular, the connecting portion 51 is tubular and substantially funnel-shaped, the connecting portion 51 includes a proximal flare and a distal throat, and the flare and the throat are smoothly transited through a tube wall. The sheath 5 further comprises three sheaths 54, the three sheaths 54 forming a through channel, i.e. the instrument channel 53, the distal end of the sheath 54 extending into and adjacent to the connection portion 51 and communicating with the constriction of the connection portion 51, and the proximal end of the sheath 54 extending from the flare out of the connection portion 51. The extending part 52 is tubular, the proximal end of the extending part 52 is fixedly connected with the distal end of the connecting part 51, and the instrument channel 53 of the extending part 52 is communicated with the necking part of the connecting part 51.

In the above embodiment, as shown in fig. 3 and 4, the sheath tube 54 includes an inner sheath tube section and an outer sheath tube section, the inner sheath tube section is located in the connecting portion 51, the outer sheath tube section extends out of the connecting portion 51 towards the proximal end, and the connecting portion 51 can be connected with the surgical robot by a connecting device provided on the outer sheath tube 54 to fix the sheath 5. Preferably, the outer sheath segment is deformable, including deformation in the radial and/or axial direction of the sheath 54. It should be understood that this deformation can compensate for the positioning error of the robot arm 1 caused by the control accuracy of the machine or other reasons, so that the end effector or endoscope at the distal end of the robot arm 1 can enter the predetermined operation site through the lumen of the sheath tube 54 more smoothly even if there is a certain positioning error.

In the present embodiment, as shown in fig. 3 and 5, the tubular protruding portion 52 further includes a first fluid passage 55 and a second fluid passage 56 extending along the longitudinal axis and disposed at a distance from each other, and the plurality of instrument passages 53, the first fluid passage 55, and the second fluid passage 56 of the protruding portion 52 are all disposed adjacently. The proximal end of the protruding portion 52 is provided with two through holes 521, and the first liquid passage 55 and the second liquid passage 56 communicate with the proximal outside of the protruding portion 52 through the through holes 521, respectively. Preferably, the outer tube 6 is tubular and is sleeved on the periphery of the extending portion 52, a gap is formed between the outer tube and the extending portion 52, and the proximal end of the outer tube 6 is detachably connected with the proximal end of the extending portion 52 in a clamping manner, so that the sheath 5 and the jacket can be conveniently mounted before an operation and cleaned after the operation. Specifically, one of the first liquid passage 55 and the second liquid passage 56 is an inlet passage, and the other is a drain passage, and preferably, the first liquid passage 55 is an inlet passage.

Preferably, the proximal end of the outer tube 6 is provided with a circumferentially extending protrusion having a radial dimension greater than that of the outer tube. The proximal end of the outer tube 6 is provided with a liquid inlet valve and a liquid outlet valve (not shown) arranged at an axial interval, preferably on two diametrically opposite sides of the proximal end of the outer tube 6, and also preferably closer to the proximal end of the outer tube 6 and closer to the distal end of the outer tube 6, both of which communicate with the interior of the outer tube 6. The outer tube 6 is provided with a first sealing member (not shown) between the liquid inlet valve and the liquid outlet valve, preferably, the first sealing member is a sealing ring, the inner wall of the first sealing member abuts against the outer wall of the extending portion 52, the outer wall of the first sealing member abuts against the inner wall of the outer tube 6, so that the gap between the inner wall of the outer tube 6 and the outer wall of the extending portion 52 is sealed and isolated from each other at both sides of the axial direction of the first sealing member, thereby the liquid inlet valve, the first liquid passage 55 and the protruding portion at one side of the first sealing member are communicated to form a first passage, the liquid outlet valve, the second liquid passage 56 and the gap at the other side of the first sealing member are communicated to form a second passage, the first passage and the second passage are separated due to the arrangement of the first sealing member, so that the first passage forms a liquid inlet passage, which facilitates the cleaning of the tissue of the surgical site in the patient during surgery, and the second passage forms a liquid outlet passage, is convenient for discharging waste liquid of the operation position, cut waste tissue and the like. It is to be understood that either of the second liquid passage 56 and the gap may be selected, and the second passage may be formed as well. For example, the outer tube 6 and the inlet portion 52 may be tightly fitted without a gap therebetween, and the drain valve is communicated with the second fluid passage 56 to form a second passage. It will also be appreciated that a gap exists between the outer tube 6 and the inlet 52, and that the drain valve communicates with the gap and may also form a second passage.

In this embodiment, a second seal is preferably provided between the outer tube 6 and the penetration 52 at the proximal end. In particular, the second seal is a sealing ring (not shown) arranged at the proximal end of the protrusion to seal the gap between the outer wall of the protrusion 52 and the inner wall of the outer tube 6 from the outside, thereby preventing liquid leakage.

Preferably, the quantity of first liquid passage 55 is two, and two first liquid passages 55 set up respectively in the relative both sides of the pipe diameter internal diameter that stretches into portion 52 to form the washing of wider scope to the tissue at operation position, thereby avoid stain such as bloodiness to influence camera device's the shooting field of vision.

As shown in fig. 2 to 7, further, the proximal end of the protruding portion 52 is provided with a locking portion 7, the locking portion 7 includes a proximal barrel base 71 and a locking piece 72 extending from the distal end of the barrel base 71 in the axial direction to the distal end, one of the inner surface of the locking piece 72 and the outer peripheral surface of the proximal end of the outer tube 6 is provided with a protrusion 721, and the other is provided with an arc-shaped groove 61, and the protrusion 721 is locked with the arc-shaped groove 61. Preferably, the inner surface of the click 72 is provided with a projection 721. An arc groove 61 is arranged on the outer peripheral surface of the near end of the outer tube 6, and the protrusion 721 is clamped with the arc groove 61. Specifically, the number of the engaging members 72 is two, and the engaging members are symmetrically arranged, the protrusion 721 on the inner surface of each engaging member 72 is a spherical protrusion, the arc-shaped groove 61 includes a proximal extending section and a distal extending section, the proximal extending section extends from the proximal edge of the outer tube 6 to the distal end along the axial direction and the width thereof gradually decreases, the distal extending section of the arc-shaped groove 61 located at the distal end extends at an angle relative to the axial direction, and the proximal extending section and the distal extending section smoothly transition in an arc shape, so that the protrusion 721 can smoothly enter the distal extending section.

In this embodiment, the proximal end of the protruding portion 52 is provided with a return mechanism. The return mechanism includes a biasing member provided between the cartridge base 71 and the outer periphery of the protruding portion 52, the biasing member biasing the cartridge base 71 toward a direction in which the projection 721 of the engaging piece 72 engages with the arc-shaped groove 61. It will be appreciated that as the protruding portion 52 and the outer tube 6 move closer to each other, the protruding portion 52 moves the cartridge base 71 and the catch 72 such that the projection 721 on the inner surface of the catch 72 moves distally along the edge of the proximal extension notch of the arcuate groove 61, and the biasing member biases the cartridge base 71 such that the catch 72 is moved in a direction in which the projection 721 engages the arcuate groove 61, and such that the projection 721 moves toward the distal extension of the arcuate groove 61, thereby engaging the protruding portion 52 and the outer tube 6.

In the preferred embodiment, the biasing member is a spring 8, and the periphery of the extending portion 52 is provided with two fixing rods 9 extending diametrically opposite and radially outward, it should be understood that the number of the fixing rods 9 is also one, the cylinder base 71 is slidably sleeved on the fixing rods 9, so that the cylinder base 71 slides radially relative to the fixing rods 9, and the spring 8 is disposed between one end of the fixing rods 9 and the cylinder base 71. Specifically, the cartridge base 71 is annular and is disposed at the periphery of the proximal end of the extending portion 52, the fixing rod 9 is fixedly disposed at the proximal end of the extending portion 52 along the radial direction of the extending portion 52, the fixing rod 9 is diametrically opposite and radially extends outwards and is disposed on the cartridge base 71 in a penetrating manner, and a stopping portion 91 is disposed at one end of the fixing rod 9 to prevent the cartridge base 71 from slipping off when sliding radially along the fixing rod 9. A pressing portion 711 is fixedly provided on a side of the cylinder base 71 away from the stopper 91. Specifically, the pressing portion 711 has a cavity therein, the spring 8 is located in the cavity, one end of the spring 8 abuts against the inner wall of the pressing portion 711, and the other end abuts against the fixing rod 9, when the extending portion 52 and the outer tube 6 move close to each other, until the spring 8 is forced to bias the barrel base 71, so that the protrusion 721 on the engaging member 72 moves along the distal end extending section of the arc-shaped groove 61, thereby engaging the extending portion 52 and the outer tube 6. When the pressing portion 711 on the cartridge base 71 is pressed, the spring 8 is reset to drive the cartridge base 71 to move along the fixing rod 9 until the outer wall of the cartridge base 71 abuts against the stopping portion 91, so that the protrusion 721 on the engaging member 72 slides out from the distal end extension section of the arc-shaped groove 61, and the extending portion 52 and the outer tube 6 are detachable. It should be understood that the spring 8 may also be disposed on a side of the cartridge base 71 close to the stopping portion 91, and one end of the spring 8 abuts against the fixing rod 9 and the other end abuts against the inner arm of the cartridge base 71.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A urological surgical machine, comprising: a plurality of robotic arms, distal portions of the plurality of robotic arms configured to enter a patient from an incision or natural orifice;

the distal portion of the robotic arm comprises a first flexible segment at a distal end and a second flexible segment at a proximal end, the first flexible segment having a maximum bend angle greater than a maximum bend angle of the second flexible segment;

the first flexible section and the second flexible section are provided with accommodating cavities which are communicated with each other;

the distal end of the first flexible segment is provided with an end effector and/or a camera device, the end effector is configured to enable surgical operations to be performed, and the camera device is configured to enable images to be acquired.

2. The urological surgical machine of claim 1, wherein the distal portion of the robotic arm further includes a flexible continuous body structure disposed throughout the first and second flexible segments.

3. The urological surgical machine of claim 2, wherein the flexible continuous body structure includes at least one continuous body section;

the continuum segment comprises a basal disc, a stopping disc and a structural bone;

the basal disc and the stop disc are arranged in the accommodating cavity at intervals, the proximal end of the structural bone penetrates through the basal disc, and the distal end of the structural bone is fixedly connected with the stop disc;

the stop disc is connected with the end effector and/or the camera device.

4. The urological surgical machine of claim 1, wherein the first flexible section includes a plurality of serpentine joints connected in series, each serpentine joint having a groove and a projection, the projection of one serpentine joint being capable of snapping into the groove of an adjacent other serpentine joint.

5. The urological surgical machine of claim 1, wherein the second flexible section is a tubular body, and a plurality of slit units are provided at intervals along a tube wall of the second flexible section in an extending direction of the second flexible section, each slit unit including a plurality of arc-shaped slits extending in a circumferential direction of the second flexible section.

6. The urological surgical machine of claim 3, wherein the continuum segment further includes a plurality of spacer discs disposed in spaced relation between the base disc and the stop disc, the structural bone passing circumferentially through each of the spacer discs in sequence.

7. The urological surgical machine of claim 3, wherein the flexible continuous body structure comprises two of the continuous body segments;

the number of the structural bones of each continuum segment is 4.

8. The urological machine of claim 3, wherein the structural bone is an elastic thin rod or tube of super elastic material.

9. The urological surgical machine of any of claims 1-8, wherein a proximal end of the plurality of mechanical arms is provided with a joint linkage;

the joint linkage has at least one joint.

10. A surgical robot comprising a urological surgical machine according to any of claims 1 to 9.

Images