CN114305710B

CN114305710B - Method for joining surgical instrument and driving device, slave operating device, and surgical robot

Info

Publication number: CN114305710B
Application number: CN202111246824.3A
Authority: CN
Inventors: 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2023-08-22
Anticipated expiration: 2040-01-07
Also published as: CN111134740A; CN111134740B; CN114305710A

Abstract

A method of engaging a surgical instrument with a drive device, the surgical instrument and drive device being engaged surgically by an engagement device, the method comprising: judging whether the engagement device is connected with the driving device; if the engagement means is connected to the drive means, the drive means performs a first traversing movement of the engagement means; judging whether the surgical instrument is connected with the joint device; if the surgical instrument is coupled to the engagement device, the drive device drives the engagement device to perform a second traversing motion of the surgical instrument. The invention can automatically judge whether the joint device and the surgical instrument are connected with the driving device, then automatically joint and align, so that the joined surgical instrument is correctly returned to the initial position.

Description

Method for joining surgical instrument and driving device, slave operating device, and surgical robot

Technical Field

The present invention relates to the field of medical instruments, and more particularly, to a method of engaging a surgical instrument with a driving device, a slave operating apparatus and a surgical robot using the method.

Background

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

With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally includes a master console for transmitting control commands to the slave operating devices according to operations of doctors to control the slave operating devices, and the slave operating devices are for responding to the control commands transmitted from the master console and performing corresponding surgical operations. The surgical instrument is connected to the driving means of the slave operating device for performing the surgical operation, so that the surgical instrument needs to be subjected to a sterile treatment, while the slave operating device is sterile, so that an engaging means is needed which is capable of isolating the slave operating device from the surgical instrument in order to avoid contamination of the surgical instrument, and how to automatically engage the engaging means with the driving means and the surgical instrument is still not a good solution.

Disclosure of Invention

Based on this, the present invention provides a method for automatically engaging a surgical instrument and a drive device.

A method of engaging a surgical instrument with a drive device, wherein the surgical instrument is engaged with the drive device by an engagement device, the method comprising: after the engagement means is connected to the drive means, the drive means performs a first traversing movement of the engagement means;

after the surgical instrument is connected to the engagement device, the drive device drives the engagement device to perform a second traversing movement of the surgical instrument.

Preferably, the first traversing movement is different from the second traversing movement in movement mode.

Preferably, the driving device is in an initial position after the first traversing movement or the second traversing movement is completed.

Preferably, the drive means comprises a plurality of drive adapters, the first traversing movement being rotation of the plurality of drive adapters in a first direction through an angle to the initial position.

Preferably, the driving device includes a plurality of driving adapters, and the first traversing motion is that the driving adapters rotate in a first direction for a certain angle from the initial position, then rotate in a second direction opposite to the first direction for the same angle, and then return to the initial position.

Preferably, the driving device includes a plurality of driving adapters, and the movement mode of the first traversing movement is that the driving adapters start from the initial position, rotate in a first direction by a first angle and then rotate in a second direction opposite to the first direction by a first angle to return to the initial position, and then continue to rotate in the second direction by a second angle and then rotate in the first direction by a second angle to return to the initial position.

Preferably, the sum of the first angle and the second angle is greater than or equal to 360 degrees.

Preferably, the engagement means comprises a plurality of engagement discs, the surgical instrument comprising a plurality of instrument engagers, the plurality of engagement discs for engaging the plurality of drive engagers and the plurality of instrument engagers;

the second traversing motion is in a motion pattern in which the plurality of drive adapters drive the plurality of engagement disks to traverse the plurality of instrument adapters, wherein the second traversing motion of the at least one drive adapter is different from the second traversing motions of the other drive adapters.

Preferably, the at least one drive coupling is configured to drive the surgical instrument in rotation, wherein the second traversing movement of the drive coupling configured to drive the surgical instrument in rotation is different from the second traversing movement of the other drive coupling.

Preferably, the second traversing movement of at least one of the drive adapters other than the drive adapter for driving the surgical instrument to rotate is such that the at least one drive adapter rotates in a first direction from the initial position by a third angle and then rotates in a second direction opposite to the first direction by a third angle back to the initial position, and then rotates in the second direction by a fourth angle and then rotates in the first direction by a fourth angle back to the initial position.

A slave operating device includes a driving device and a surgical instrument, the driving device being engaged with the surgical instrument by the above-described engagement method.

A surgical robot includes a master operation device for performing a corresponding operation according to an input of the master operation device, and a slave operation device which is a slave operation device having the above-described joining method.

According to the invention, the joint device and the surgical instrument are automatically judged whether to be correctly connected with the driving device or not, and then the driving device automatically executes the first traversing movement and the second traversing movement to automatically complete the joint and alignment of the surgical instrument and the driving device, so that the joined surgical instrument correctly returns to the initial position.

Drawings

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

FIG. 2 is a schematic view of the surgical instrument of FIG. 1;

FIGS. 3 and 4 are partial schematic views of various embodiments of the distal end of the surgical instrument of the present invention;

FIG. 5 is a schematic view of an engagement portion of a surgical instrument according to an embodiment of the present invention;

FIG. 6 is a schematic view of an engaging portion of a driving device according to an embodiment of the present invention;

FIGS. 7A and 7B are schematic diagrams of an engaging apparatus according to an embodiment of the invention;

FIG. 8 is an exploded view of an engagement device according to an embodiment of the present invention;

FIG. 9 is an exploded view of a splice tray according to an embodiment of the present invention;

FIG. 10 is a cross-sectional view of an engagement device according to another embodiment of the present invention;

FIG. 11 is a cross-sectional view of an elastic member according to another embodiment of the present invention;

FIG. 12 is a cross-sectional view of an engagement device according to another embodiment of the present invention;

FIG. 13 is a bottom view of a lower splice tray according to an embodiment of the present invention;

FIG. 14 is a cross-sectional view of the present invention at the lower bond pad B-B of FIG. 13;

FIG. 15 is a top view of an upper bond pad in accordance with one embodiment of the present invention;

FIG. 16 is a schematic view of a driving disc of a driving apparatus according to an embodiment of the present invention;

FIG. 17 is a flow chart of a bonding method according to an embodiment of the present invention;

FIGS. 18A-18C are schematic diagrams illustrating a process for engaging a drive adapter with an engagement disc according to an embodiment of the present invention;

FIG. 18D is an enlarged view of a portion at P of FIG. 18C;

FIGS. 19A-19C are schematic views illustrating an engagement process of an engagement disc with an instrument adapter according to one embodiment of the present invention;

FIGS. 20 and 21 are schematic views of an infinite rotation preventing structure according to an embodiment of the present invention;

FIG. 22 is a cross-sectional view of a surgical instrument, engagement device, and drive device fully coupled according to one embodiment of the present invention;

fig. 23 is a cross-sectional top view at C-C of fig. 22.

Detailed Description

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

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator. As used herein, "fully coupled" may be understood broadly as wherein two or more objects are connected to any event in a manner that allows the absolutely coupled objects to operate together with one another such that there is no relative movement between the objects in at least one direction, such as coupling of a protrusion and a recess, which may move relative to one another in a radial direction but not in an axial direction. The terms "coupled," "engaged," and "coupled" may be used interchangeably throughout the specification and claims.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

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

The slave operation device 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, a surgical instrument 100 provided on the power mechanism 22, and a sleeve 24 that houses the long shaft 100 of the surgical instrument 100. The robotic arm 21 is used to adjust the position of the surgical instrument 100; the power mechanism 22 is used to drive the surgical instrument 100 to perform a corresponding operation, and the end effector 111 of the surgical instrument 100 is used to extend into the body and perform a surgical operation with its distally located end instrument and/or acquire in-vivo images. Specifically, as shown in fig. 3 and 4, the long shaft 110 of the surgical instrument 100 is inserted through the sleeve 23, and the end effector 111 thereof extends out of the sleeve 23 and is driven to perform an operation by the power mechanism 22. In fig. 3, the region of the surgical device 100 where the long axis 110 is located within the cannula 23 is a rigid region; in fig. 4, the region of the surgical instrument 100 where the long axis 110 is located within the cannula 23 is a flexible region along with which the cannula bends. The sleeve 24 may also be omitted.

To provide a satisfactory sterile environment during robotic surgery, it is desirable to intermediately isolate the sterile instrument from the sterile instrument, typically from the robotic arm 21 and power mechanism 22 of the operating device 2, the surgical instrument 100 needs to be sterile, and a sterile interface between the sterile power mechanism 120 and the sterile surgical instrument 100 needs to be provided to isolate the sterile power mechanism 120 from the sterile surgical instrument 100.

The power (e.g., motor power output) of the power mechanism 120 passes through the sterile engagement device from the power mechanism 120 to the surgical instrument 100 to drive the surgical instrument to operate, but for assembly reasons, the power output shaft of the power mechanism and the shaft of the surgical instrument receiving the power driven mechanism inevitably have different shafts, and at this time, the shaft of the surgical instrument 100 driven mechanism is driven by the power mechanism 120 to perform eccentric rotation motion, which causes great abrasion to the surgical instrument 100 and the power mechanism 120 and generates great noise during the operation of the surgical robot, so that the sterile engagement device also needs to be designed more reasonably to be able to solve the above-mentioned undesired eccentric motion.

As shown in fig. 5 to 7B, one or more driving devices 300 are disposed in the power mechanism 22, the driving devices 300 are bacteria, the driving devices 300 drive the surgical instrument 100 to perform corresponding surgical operations, the surgical operations include controlling the distal end of the long shaft 110 to perform yaw, rotation, pitch, etc., and performing operations corresponding to the operations on the end effector 111, and the end instrument 111 may be a surgical forceps, a cautery device, a cutting device, an imaging device, etc., and the driving devices 300 drive the end effector 111 to perform related operations according to the difference of the surgical instrument end effectors 111. A sterile engagement device 200 is disposed between the drive device 300 and the surgical instrument 100.

The surgical instrument 100 further includes six instrument adapters 120A-120F, and in other embodiments the instrument drivers may be other numbers, such as four. Instrument adapters 120A-120F are disposed within housing 130, the proximal ends of instrument adapters 120A-120F are coupled to instrument drive 150, instrument drive 150 further includes a plurality of drive wheels (not shown) that drive long shaft 110 and end effector 111, and instrument adapters 120A-120F receive controlled drive forces from drive device 300 to drive the drive wheels through the drive wires to control movement of long shaft 110 and end effector 111, each instrument adapter 120A-120F independently of the other instrument adapters.

The distal ends of the instrument adapters 120A-120F have the same configuration, with the instrument adapter 120A driving rotation of the shaft 110 being taken as an example of the configuration of the instrument adapters 120A-120F, the instrument adapter disk top surface 122 of the instrument adapter 120A having an instrument engagement portion 121 for engagement with the engagement device 200, the instrument engagement portion 121 having a first instrument coupling member 121A and a second instrument coupling member 121B for complete coupling with the engagement device 200, and the number of instrument coupling members may be other, such as 4, in other embodiments.

The surgical instrument 100 has a first signal receiving portion 140, and the first signal receiving portion 140 is configured to transmit signals to a controller 330 disposed within the power unit 22, the signals including a signal for verifying the authenticity of the surgical instrument 100 and a determination signal for determining whether the surgical instrument 100 is connected to the engagement device 200, and in other embodiments, the controller may be disposed on the side of the main console 1, or elsewhere on the slave operating device 2, such as on a base of the slave operating device.

Fig. 6 illustrates a perspective view of the proximal interface of the drive device 300, the drive device 300 including six drive adapters 320A-320F, a plurality of drive adapters 320A-320F mounted within the drive housing 310, each drive adapter 320A-320F controlled by a controller 330 for independent movement. Each actuator independently controls and actuates the surgical instrument 100, e.g., each actuator adapter controls the rotation, yaw, pitch, end instrument opening and closing, etc., of the surgical instrument 100, respectively, and in other embodiments the number of actuators is other, e.g., four.

The proximal end of the drive adapters 320A-320F have the same configuration as the portion of the engagement device 200 that engages, for example, the drive adapter 320A that controls rotation of the shaft 110 is the distal end of the drive adapters 320A-320F, the drive 320A has a drive engagement portion 321 that engages the engagement device 200, the drive engagement portion 321 has a first drive coupling member 321A and a second drive coupling member 321B that are fully coupled to the engagement device, and the number of drive coupling members may be other, for example 4, in other embodiments.

The driving device 300 is provided with a third signal receiving and transmitting part 340, and the third signal receiving and transmitting part 340 is configured to receive a signal transmitted by the first signal receiving and transmitting part 140 of the surgical instrument 100, and output a signal transmitted by the first signal receiving and transmitting part 140 to the controller 330, or transmit a signal transmitted by the controller 330 to the first signal receiving and transmitting part 140, so as to control the surgical instrument 100.

Fig. 7A to 9 show the structure of the engaging device 200, the engaging device 200 having a housing 210, the housing 210 including a first housing 211 at a distal end of the engaging device and a second housing 212 at a proximal end of the engaging device, the first housing 211 having a plurality of first cavities 231 thereon, the second housing having a plurality of second cavities 232 corresponding to the cavities 231, the first cavities 231 cooperating with the second cavities 232 to form a plurality of receiving cavities for receiving the engaging discs 220A-220F, the first cavities 231 having first edge portions 2311 for limiting the axially distal movement of the engaging discs 220A-220F, the second cavities 232 having second edge portions 2312 for limiting the axially proximal movement of the engaging discs 220A-220F.

The housing 210 of the engaging device 200 has a second signal receiving portion 240, and the second signal receiving portion 240 is electrically connected to the first signal receiving portion 140 on the surgical instrument 100 and the third signal receiving portion 340 on the driving device, respectively, for electrically connecting the first signal receiving portion 140 and the third signal receiving portion 340 for transmitting signals therebetween, and the second signal receiving portion 240 may independently transmit signals to the third signal receiving portion 340, which may be a determination signal for determining whether the engaging device is properly connected to the driving device 300, or may be other signals, such as a determination signal for determining whether the engaging device 200 is completely engaged with the driving device 300 or the surgical instrument 100.

The plurality of bond pads 220A-220F are similar in structure, with bond pad 220A being illustrated as the bond pad structure. As shown in fig. 9 and 13, the engaging plate 220A has an upper engaging plate 2210 and a lower engaging plate 2230 having substantially the same structure, the upper engaging plate 2210 and the lower engaging plate 2230 are connected at the middle thereof by an elastic member 2220, and the upper engaging plate 2210 and the lower engaging plate 2230 can move independently from each other in the axial direction under the action of the elastic member 2220.

The upper engagement plate 2210 has a first contact surface 2211, the first contact surface 2211 is used for abutting against the instrument engagement portion 121 of the surgical instrument 100 during the engagement of the engagement device 200 with the surgical instrument 100, and the first contact surface 2211 is provided with a first coupling portion 223 for coupling with the instrument engagement portion 121. Accordingly, the lower engagement plate 2230 has a second contact surface 2235, the second contact surface 2235 is used for abutting against the driving engagement portion 321 of the driving device 300 during the engagement with the driving device 300, and the second contact surface 2235 is provided with a second coupling portion 222 engaged with the driving engagement portion 321.

The upper and lower bonding plates 2210, 2230 each have a first projection 225 and a second projection 226 having a fan shape, a recess 229 having a fan shape is provided between the first projection 225 and the second projection 226, the first projection 225 and the second projection 226 of the upper bonding plate 2210 may be received in the recess 229 of the lower bonding plate, and accordingly, the first projection 225 and the second projection 226 of the lower bonding plate may be received in the recess 229 of the upper bonding plate, and the upper and lower bonding plates 2210, 2230 each have a mounting hole 227 for mounting a spring. After the upper bonding pad 2210 and the lower bonding pad 2230 are mounted, a center line A of the first coupling portion 223 and a center line B of the second coupling portion 222 are perpendicular to each other, the center line A passes through the center of the first coupling portion 223 and the center of the upper bonding pad 2210, and the center line B passes through the center of the second coupling portion 222 and the center of the lower bonding pad 2230. The first bump 225, the second bump 226, and the recess 229 are not limited to a fan shape, and in other embodiments, the first bump 225, the second bump 226, and the recess 229 may be other shapes, for example, the first bump 225 and the second bump 226 are rectangular bumps, and the recess 229 is i-shaped.

The first coupling part 223A of the first coupling part 223 is provided in the first bump 225 of the upper bonding pad 2210, and the second coupling part 223B of the first coupling part 223 is provided in the second bump 226 of the upper bonding pad 2210. The first coupling member 223A is configured to couple with the first instrument coupling member 121A during engagement of the engagement device 200 and the surgical instrument 100, and the second coupling member 223B is configured to couple with the second instrument coupling member 121B during engagement of the engagement device 200 and the surgical instrument 100. It is understood that the first coupling member 223A and the second coupling member 223B are not limited to being disposed in the first bump 225 and the second bump 226, and in other embodiments, the first coupling member 223A and the second coupling member 223B may be disposed in the recess 229.

In one embodiment, the distance from the outside of the first coupling member 223A to the center of the upper bonding pad 2210 is greater than the distance from the outside of the second coupling member 223B to the center of the upper bonding pad 2210. In order to fully couple the first coupling portion 223 with the tool engagement portion 121 at this time, accordingly, the distance from the outside of the first tool coupling part 121A of the tool engagement portion 121 to the center of the tool engagement 120A is greater than the distance from the outside of the second tool coupling part 121B to the center of the tool engagement 120A, the outside being the side radially away from the center of the circle.

In one embodiment, the distance from the inner side of the first coupling member 223A to the center of the upper bonding pad 2210 is smaller than the distance from the outer side of the second coupling member 223B to the center of the upper bonding pad 2210. At this time, in order to completely couple the first coupling portion 223 with the instrument engagement portion 121, accordingly, the distance from the inner side of the first instrument coupling part 121A of the instrument engagement portion 121 to the center of the instrument adapter 120A is smaller than the distance from the inner side of the second instrument coupling part 121B to the center of the instrument adapter 120A, the inner side being a side radially close to the center of the circle.

In one embodiment, the shapes of the first coupling member 223A and the second coupling member 223B are different, as shown in fig. 9, the shapes of the first coupling member 223A and the second coupling member 223B are different, and the outer side of the first coupling member 223A is a groove structure, that is, the first coupling member 223A separates the first bump 225 of the upper bonding pad 2210 into two pieces, that is, a right bump 225A and a left bump 225B. The second coupling part 223B does not pass through the second bump 226 of the upper bonding pad 2210 at the outside. In this embodiment, the first coupling member 223A is not just shaped differently from the second coupling member 223B, but the distance from the outside of the first coupling member 223A to the center of the upper bonding pad 2210 is also greater than the distance from the outside of the second coupling member 223B to the center of the upper bonding pad 2210. At this time, in order to completely couple the first coupling portion 223 with the instrument engagement portion 121, accordingly, it is only necessary to keep the distance from the outside of the first instrument coupling part 121A of the instrument engagement portion 121 to the center of the instrument adapter 120A greater than the distance from the outside of the second instrument coupling part 121B to the center of the instrument adapter 120A, and it is not necessary to set the shapes of the first instrument coupling part 121A and the second instrument coupling part 121B to be different. However, the shape of the first and second instrument coupling members 121A, 121B is not limited to that shown in fig. 9, and in other embodiments, the first and second instrument coupling members 121A, 121B do not have any similarity, e.g., the first instrument coupling member 121A is a cylinder and the second instrument coupling member 121B is a rectangular parallelepiped.

Because first bonding pad 2210 has substantially the same structure as second bonding pad 2230, to prevent mis-assembly of first bonding pad 2210 and second bonding pad 2230, mis-assembly prevention arrangements 228A and 228B are provided on first tab 225 and second tab 226, respectively, with mis-assembly prevention arrangement 228B of the first bonding pad mated with mis-assembly prevention arrangement 228A of the corresponding second bonding pad, and mis-assembly prevention arrangement 228A of the second bonding pad mated with mis-assembly prevention arrangement 228B of the corresponding second bonding pad. When first engagement plate 2210 and second engagement plate 2230 are assembled, first engagement plate 2210 and second engagement plate 2230 are only movable axially independently of each other and are not movable radially independently of each other.

In another embodiment of the engaging device of the present invention, as shown in fig. 10 to 12, the engaging disc 420 is in an "h" shape, the upper engaging disc 4210 of the engaging disc 420 is fixedly connected with the lower engaging disc 4230, preferably the upper engaging disc 4210 and the lower engaging disc 4230 are integrally formed into one piece, the elastic member 4220 is fixed on the housing 410, and the elastic member 4220 includes an upper elastic portion 4221 facing the proximal end and a lower elastic portion 4222 facing the distal end. Specifically, the housing 410 includes a first housing 411 and a second housing 412, the engagement disc 420 is mounted in a cavity formed by the first housing 411 and the second housing 412, the first housing 411 has a first edge portion 4311 for limiting distal movement of the lower engagement disc 4230, and the second housing 412 has a second edge portion 4312 for limiting proximal movement of the upper engagement disc 4210. The first housing 411 and the second housing 412 further include a first inner ring 4111 and a second inner ring 4121, respectively, and the elastic member 4220 is mounted on the first inner ring 4111 and the second inner ring 4121. The lower resilient portion 4222 is compressed when the drive coupler of the surgical instrument 100 is pressed against the lower engagement disc 4230 such that the lower resilient portion 4222 provides a spring force that can move the engagement disc 420 toward the distal end of the engagement device, and the upper resilient portion 4221 is compressed such that the upper resilient portion 4221 can provide a spring force that can move the engagement disc toward the proximal end of the engagement device when the instrument driver is pressed against the upper engagement disc 4210.

As shown in fig. 11, the elastic member 4220 includes a housing 4225, and both a base 4223 of the upper elastic portion 4221 and a base 4224 of the lower elastic member 4222 are mounted in the housing 4225, and the spring 4222 is mounted between the base 4223 of the upper elastic portion 4221 and the base 4224 of the lower elastic member 4222.

Preferably, as shown in fig. 12, in order to make the mounting of the engagement disc 420 into the housing 410 more efficient, the first inner ring 4111 and the second inner ring 4121 are respectively incomplete inner rings, specifically, the plurality of elastic members 4220, the first elastic member 4220A is fixed on the first inner ring 4111, and the second elastic member 4222B is fixed on the second inner ring 4112. In other embodiments, the first inner ring 4111 and the second inner ring 4112 may be just one protruding mounting seat for mounting the elastic member 4220.

As shown in fig. 13 and 14, fig. 11 is a cross-sectional view of lower bond pad 2230 along a B-B plane, and second coupling member 222B is identical in cross-section to third coupling member 222A along a plane parallel to the B-B plane, and is thus illustrated as third coupling member 222A. The third coupling part 222A has a first guide arc surface 2231 and a second guide arc surface 2232 at both sides of the entrance to guide the first driving coupling part 321A, the distal end of the first guide arc surface 2231 transits gently to the first inclined surface 2233, the distal end of the second guide surface 2232 transits gently to the second inclined surface 2234, the first inclined surface 2233 forms an angle θ1 with the adjacent side surface, and the second inclined surface 2234 forms an angle θ2 with the adjacent side surface, where θ1 is equal to θ2, however, in other embodiments θ1 may not be equal to θ2. When the third coupling member 222A is completely coupled with the first driving coupling member 321A, the first driving coupling member 321A is tightly caught between the first inclined surface 2233 and the second inclined surface 2234, and at this time, the lower engagement plate 2230 and the driving coupler 320A are not relatively movable in the axial direction but relatively movable in the radial direction. In other embodiments, the first angled surface 2233 and the second angled surface 2234 may be configured in other shapes, such as, for example, arcuate shapes, so long as the conditions for fully coupling the third coupling member 222A with the first drive coupling member 321A, which are described in detail below in connection with the engagement of the drive device 300 and the surgical instrument 100 with the engagement device 200, are met.

As shown in fig. 15, the second contact surface 2211 of the lower engagement plate 2210 has a first coupling member 223A coupled to the first instrument coupling member 121A of the instrument engagement plate 120A of the surgical instrument 100 and a second coupling member 223B coupled to the second instrument coupling member 121B. Because upper bonding pad 2210 has substantially the same structure as lower bonding pad 2230, the detailed structure of upper bonding pad 2210 is not described again, and reference is made to the structure of lower bonding pad 2230.

Fig. 16 shows a drive coupler 320A having a drive plate 322, with the other drive couplers 230B-320F all having identical drive plates, with the drive plate 322 of the drive coupler 320A being used as an example of a drive plate configuration, the drive plate 322 having a drive plate 323, the drive plate 323 having a drive plate top surface 324 facing the surgical instrument 100, the drive plate top surface 324 having a first drive coupling member 321A thereon for coupling with the third coupling member 222A of the coupling device 200, and a second drive coupling member 321B thereon for coupling with the fourth coupling member 222B of the coupling device 200. The drive disk bottom surface is connected to a drive shaft 325, and the drive shaft 325 is connected to a power output shaft (e.g., a motor output shaft) of the drive coupling 320A.

As shown in fig. 17, the engagement process of the driving device 300, the engagement device 200, and the surgical instrument 100 is divided into two stages, the first stage is to engage the driving device 300 with the engagement device 200, and the second stage is to engage the driving device 300 with the surgical instrument 100 together with the engagement device 200.

In one embodiment, prior to the initiation of the first stage engagement, the drive adapters 320A-320F of the drive device 300 are in an initial position defined according to the initial state of the surgical tool 100 and stored within the controller 330, the surgical instrument 100 being in an initial state in which the long axis 110 of the surgical instrument 100 is in a straight state, i.e., the yaw angle, pitch angle, etc. of the distal end of the long axis 110 is 0 degrees, rotated in a fixed position, which is a closed state if the end effector 111 is surgical forceps, cutting device, etc. It will be appreciated that the initial state is defined by human, and is not limited to the above-described position, and in other embodiments, the initial position of the surgical tool 100 may be different, such as a slightly angularly offset distal end of the long axis 110 relative to a straight state.

In the first engagement phase, in which the driving device 300 is engaged with the engagement device 200, the driving adapters 320A-320F of the driving device 300 are engaged with the engagement discs 220A-220F of the engagement device 200, respectively, the engagement process of the driving device 300 with the engagement device 200 is illustrated by taking the driving adapter 320A and the engagement disc 220A as examples, and in this embodiment, the engagement process of the other driving adapters with the engagement disc is the same as the engagement process of the driving adapter 320A with the engagement disc 220A.

The controller 330 of the driving device 300 senses whether the bonding apparatus 200 is connected to the driving device 300 through the third signal receiver 340, and if the bonding apparatus 200 is properly connected to the driving device 300, the second signal receiver 240 of the bonding apparatus 200 may transmit a connection signal including a verification signal for verifying the authenticity of the bonding apparatus 200 and/or a confirmation signal for confirming whether the bonding apparatus 200 is properly connected to the driving device 300 to the third signal receiver 340, and the controller 330 receives the connection signal to confirm that the bonding apparatus 200 is properly connected to the driving device 300, and performs the control of the bonding of the driving bonders 320A to 320F to the bonding pads 220A to 220F.

Fig. 18A-18D illustrate the process of driving the adapter 320A into engagement with the engagement disk 220A. When the engaging apparatus 200 is connected to the driving apparatus 300, the first and second driving coupling members 321A and 321B of the driving coupler 320A abut against the second contact surface 2235 of the engaging plate 220A, and the lower engaging plate 2230 of the engaging plate 220A is axially moved proximally under the urging of the first and second driving coupling members 321A and 321B and compresses the elastic member 2220, and the upper engaging plate 2210 abuts against the second edge portion 2312 of the engaging apparatus housing 210 under the action of the elastic member 2220.

When the driving coupling member 321A is rotated to the second guide arc surface 2232 of the third coupling member 222A from the initial position in a first direction (e.g., clockwise) under the control of the controller 330, the lower coupling plate 2230 moves toward the distal end in the axial direction by the elastic force of the elastic member 2220, gradually introducing the first driving coupling member into the third coupling member 222A. As the drive coupler 320A continues to rotate, the first drive coupling member 321 slides further into the third coupling member 222A until the first drive coupling member 321 is fully coupled with the third coupling member 222A. If the guide first and second guide curved surfaces 2231 and 2232 are not provided at the entrance of the third coupling member 222A, the first driving coupling member 321A is likely to directly jump from the entrance of the third coupling member 222A without entering into the third coupling member 222A because the rotational speed of the driving coupling 320A is too fast. In this embodiment, the driving adapter 320A rotates 180 degrees in the first direction from the initial position and then rotates 180 degrees in the second direction opposite to the first direction, and returns to the initial position, and then rotates 180 degrees in the first direction after continuing to rotate 180 degrees in the second direction, so that the first driving coupling member 321A and the second driving coupling member 321B complete the traversing movement of the engaging plate 220A, and therefore, it is necessary to provide guiding cambered surfaces on both sides of the entrance of the third coupling member 222A. In other embodiments, the drive coupler 320A may be rotated 360 degrees in only one direction to engage the disk 220 for traversing movement. After the traversing movement is completed, the drive coupler 320A drives the coupler disk 220A back to the initial position.

Because the third coupling member 222A and the fourth coupling member 222B are different in shape, and accordingly, the distance from the outside of the first driving coupling member 321A to the center of the driving disk is different from the distance from the outside of the second driving coupling member 321A to the center of the driving disk, this arrangement ensures that the third coupling member 222A can only be coupled with the first driving coupling member 321A, but cannot be coupled with the second driving coupling member 321B; likewise, the fourth coupling member 222B can only couple with the second driving coupling member 321B, but cannot couple with the first driving coupling member 321A, and this coupling alignment is critical for returning the surgical instrument 100 to the initial position.

Fig. 18C shows a state in which the driving adapter 320A is completely coupled with the bonding pad 220A, when the first driving coupling part 321A of the driving adapter 320A is completely coupled with the third coupling part 222A of the bonding pad 220A, and the second driving coupling part 321B is completely coupled with the fourth coupling part 222B of the bonding pad 220A. In the fully coupled state, the fully coupled state is described by taking the complete coupling of the first driving coupling member 321A with the third coupling member 222A of the bonding pad 220A as an example. In the fully coupled state, the first and second inclined surfaces 2233 and 2234 of the lower bonding pad 2230 are in close contact with the first driving coupling member 321A, and a close contact point P0 exists at a position where the first and second inclined surfaces 2233 and 2234 are in close contact with the first driving coupling member 321A, and fig. 18D is an enlarged view of the close contact point P0 of fig. 18C.

In the fully coupled state, lower engagement plate 2230 is not movable in the axial and rotational directions relative to drive adapter 320A. At this time, the lower engagement plate 2230 receives a pushing force Ft1 from the lower engagement plate 2230 in the direction of the driving engagement 320A, a friction force Ff1 opposite to the pushing force Ft1 and an elastic force Fs1 from the elastic member 2220, wherein,

Ft1＝f(μ1,θ,M1)；

Ff1＝g(μ1,θ,M1)；

Fs1＝k(μ1,θ,M1)；

μ1 is a coefficient of friction between the first drive coupling member 321A and the engagement disc 220A; θ is an angle between the first inclined surface 2233 and the second inclined surface 2234 and the adjacent side surface thereof, where θ=θ1=θ2; m1 is the torque driving the coupling 320A.

It is critical to maintain full coupling of drive interface disc 320A with interface disc 220A during operation of the surgical robot, so angle θ needs to be such that friction force Ff1 is greater than thrust force Ft1, or the sum of friction force Ff1 and spring force Fs1 is greater than thrust force Ft1.

In the fully coupled state, a first gap G1 exists between the second contact surface 2235 of the bond pad 220A and the drive disk top surface 324 of the drive bond pad 320A, and the presence of the first gap G1 is critical to maintaining the fully coupled state, so that it is ensured that the distance h2 of the intimate contact point P0 to the second contact surface 2235 of the bond pad 220A is less than the distance h1 of the intimate contact point P0 to the drive disk top surface 324 of the drive bond 320A.

In another embodiment of the present invention, the first traverse motion of the first engagement stage is such that the plurality of driving adapters 320A-320F of the driving device 300 rotate from the initial position in the first direction by a certain angle, preferably 360 degrees, and then rotate in the opposite direction to the first direction and return to the initial position, such that the driving device 300 rotates twice to complete the traverse of the engagement device 200.

In another embodiment of the present invention, before the first engagement phase starts, the driving engagement devices 320A-320F of the driving device 300 are not in the initial position, but are in positions different from the initial position by a certain angle, so that the driving device 300 traverses the engagement device 200 in a manner of rotating by a certain angle different from the initial position in one direction, and after traversing, the driving device 300 is just in the initial position, so that only one rotation of the driving device 300 is needed to complete traversing the engagement device 200, and the movement mode is simpler, and the certain angle different from the initial position is preferably 360 degrees.

The second stage of engagement is when drive device 300 and engagement device 200 are engaged together with surgical instrument 100, at which time lower engagement plate 2230 of engagement device 200 has been fully coupled with drive device 300 via the first stage of coupling, such that drive device 300 drives engagement plates 220A-220F of engagement device 200 to couple instrument couplers 120A-120F of surgical instrument 100 during the second stage of engagement. The second stage engagement process is illustrated with the engagement of the engagement disc 220A with the instrument adapter 120A by the drive adapter 320A, as is the engagement of the other engagement discs with the other instrument adapters.

After the surgical instrument 100 is connected to the engagement device 200, the first signal transmitting portion 140 on the surgical instrument 100 transmits a signal to the controller 330 through the second signal transmitting portion 240 on the engagement device 200 and the third signal transmitting portion 340 on the driving device 300, and the controller 330 judges whether the surgical instrument 100 is properly connected to the engagement device 200 by the signal, the signal including a verification signal for verifying the authenticity of the surgical instrument 100 and a confirmation signal for verifying whether the surgical instrument 100 is properly connected to the engagement device 200. It should be understood that, the signals sent by the first signal sending and receiving unit 330 are not limited to the two signals, and in other embodiments, the signals may be only acknowledgement signals, or may further include other signals.

As shown in fig. 19A, when surgical instrument 100 is connected to engagement device 200, first instrument coupling member 121A and second instrument coupling member 121B of instrument adapter 120A abut a first contact surface on upper engagement disc 2210, upper engagement disc 2210 is forced axially distally by instrument adapter 120A and compresses resilient portion 2220. If the controller 330 confirms that the surgical instrument 100 has been properly connected to the engagement device 200 by detecting a signal from the first signal transmitting and receiving portion 140, the controller 330 controls the drive engagement disc 320A to rotate in a first direction (e.g., clockwise) from an initial position, which is the same as the initial position described above. Because second stage splice tray 320A is already fully coupled with lower splice tray 2230, splice tray 220A will rotate in the first direction along with driving splice tray 320A.

As shown in fig. 19B, when the guide arc surface of the first coupling member 223A gradually comes into contact with the first instrument coupling member 121A, the first engagement disc 2210 starts to gradually move distally in the axial direction under the elastic force of the elastic portion 2220. As the drive coupler 120A continues to rotate, the first implement coupling member 121A slides further into the first coupling member 223A through the guide arc surface until the first implement coupling member 121A is fully coupled with the first coupling member 223A.

As shown in fig. 19C, instrument adapter 120A is fully coupled with adapter plate 220A, with first instrument coupling member 121A fully coupled with first coupling member 223A and second instrument coupling member 121B fully coupled with second coupling member 223B. As with lower engagement disc 220A, in the fully coupled state, upper engagement disc 2210 is not movable relative to the instrument adapter in the axial and rotational directions. At this time, the upper engagement disc 2210 receives a pushing force Ft2 from the instrument driver 120A directed upward toward the engagement disc 2210, a friction force Ff2 opposite to the pushing force Ft2 and an elastic force Fs2 from the elastic member 2220, wherein,

Ft2＝y(μ2,α,M2)；

Ff2＝s(μ2,α,M2)；

Fs2＝t(μ2,α,M2)；

μ2 is the coefficient of friction between the first instrument coupling member 121A and the engagement disc 220A; alpha is an angle (see θ) between the inclined surface of the first coupling member 223A and the side surface adjacent thereto, and M2 is torque of the joint plate 220A.

Preferably, the above-mentioned 0 ° < θ <10 °,0 ° < α <10 °, is such that the engagement disc and the engagement disc cannot move axially after being completely coupled with the driving device and the surgical instrument.

Likewise, it is always necessary to maintain the engagement disc 220A fully coupled with the instrument adapter 120A during operation of the surgical robot, so the angle α needs to be such that the friction force Ff2 is greater than the thrust force Ft2, or the sum of the friction force Ff2 and the spring force Fs2 is greater than the thrust force Ft2.

Likewise, a second gap G2 exists between the first contact surface 2211 on the upper engagement plate 2210 and the instrument adapter disk top surface 122 of the instrument adapter 120A in the fully coupled state, ensuring that the distance from the intimate contact point of the first instrument coupling member 121A with the first coupling member 223A to the first contact surface 2211 of the engagement plate 220A is less than the distance from the intimate contact point to the instrument adapter disk top surface 122 of the instrument adapter 120A in order to maintain the presence of the second gap G2 at all times.

The engagement disc 220A is rotated 180 degrees in a first direction from the initial position and then rotated 180 degrees in a second direction opposite to the first direction to return to the initial position by the driving of the driving coupler 320A, and then rotated 180 degrees in the first direction and then returned 180 degrees in the second direction to the initial position, so that the first coupling member 223A and the second coupling member 223B of the engagement disc 320A complete the traversing movement of the engagement disc 320A, and after the traversing movement is completed, the driving coupler 320A drives the engagement disc 220A and the device driving disc 120A to return to the initial position together, at which time the surgical device 100 returns to the initial state because the initial position is defined according to the initial state of the surgical device 100. Regardless of the state of the surgical instrument 100 prior to engagement with the engagement device 200, the surgical instrument 100 is returned to the initial state after engagement with the engagement device 200 by the above-described engagement method, thereby facilitating the surgeon's operation. It is important in the present coupling method that the coupling plate 220A of the coupling device 200 is configured to couple with the drive coupler 320A and the instrument coupler 120A only to return the surgical instrument 100 to the original state after coupling. The engagement device, the drive engagement device and the instrument engagement device in the prior art are not uniquely corresponding, and at this time, the surgical instrument cannot be correctly returned to the original state after being engaged.

In one embodiment, to increase the efficiency of using the surgical robot, the driver 330 independently controls the manner in which the engagement discs 220A-220F traverse the instrument adapters 120A-120F during the second engagement phase so that the surgical instrument 100 may be returned to its original state within the patient. Specifically, the manner of traversing the instrument engagement disc that drives rotation of the long axis 110 of the surgical instrument 100 is different than the manner of traversing other instrument engagement discs. Assuming that drive adapter 320A is a drive adapter for rotating long shaft 110, other drive adapters 320B-320F drive other motions (e.g., yaw, pitch, etc.) of long shaft 110 and end effector 111, controller 330 controls drive adapter 320A to traverse adapter 220A through instrument adapter 120A in a manner similar to the first embodiment of the first traversal, i.e., adapter 120A triggers from an initial position a return to the initial position by rotating the same angle in a first direction less than or equal to 180 degrees and then rotating the same angle in a second direction opposite the first direction less than or equal to 180 degrees, and then returning to the initial position by rotating the same angle in the first direction after rotating the same angle in the second direction such that adapter 220A completes the traversal of instrument adapter 120A. And the controller 330 controls the manner in which portions of the other bond pads 220B-220F traverse the surgical instrument by: some of the bond pads 220B-220F are triggered from an initial position to rotate a small angle beta in a first direction and then back to the initial position a small angle beta in a second direction opposite the first direction, then rotate a small angle beta in the second direction and then back to the initial position a small angle beta in the first direction, preferably beta is less than 13 degrees.

Because the return of the initial state of the surgical instrument 100 is required to be accomplished in the patient in this embodiment, the distal end of the long shaft 110 of the surgical instrument 100 cannot move significantly in the patient, which would otherwise cause damage to the tissue in the patient. It is therefore desirable that the instrument 100 be in the vicinity of the initial position (referred to as near the initial position) except for the instrument adapter that drives rotation of the shaft 110 before the instrument 100 is engaged to the engagement device 200, so that the magnitude of the motion of the instrument 100 within the patient during the second stage of engagement is small, thereby avoiding damage to tissue within the patient. In order to allow the surgical device 100 to return properly from the proximal initial position to the initial position, the small angle β by which the engagement discs 220B-220F are rotated is also required to be greater than the angle at which the surgical device 100 is required to deflect from the proximal position back to the initial position.

To ensure that the surgical device 100 is in the approximated initial position prior to the second stage engagement, a power mechanism 22 may be provided that allows only the proximally located surgical device 100 to pass through the cannula 23. In the second stage of engagement, the surgical device 100 is first adjusted to an adjacent position, for example, the medical practitioner simply adjusts the distal end of the long shaft 110 of the surgical device 100 to a substantially straight position, and then passes the long shaft 110 through the cannula 23 and into the patient, and after the surgical device 100 is connected to the engagement device 200, the controller 330 performs the second stage of engagement.

In one embodiment, when the surgical instrument is in a near initial position, the first coupling member 223A of the engagement disc 220A engaged with the drive coupler 320A that drives rotation of the control shaft 110 is at a different distance from the center of the engagement disc than the second coupling member 223B, or is of a different shape, the third coupling member 222A and the fourth coupling member 222B on the upper engagement disc 2210 are at a different distance from the center of the upper engagement disc, or are of a different shape, and the first through fourth coupling members of the other engagement discs 220B-220F are at the same distance from the upper or lower engagement disc, or are of the same shape. This is because the instrument adapters 220B-220F are attached in the home position and the same coupling members in the same position or shape on the same engagement disc will not affect their return to the home position.

In one embodiment, to prevent problems associated with infinite rotation of the instrument adapter that drives rotation of the long shaft 110 of the surgical instrument 100, such as infinite rotation, more drive wires are required. A blocking device is thus provided in the instrument adapter which drives rotation of the long shaft, which blocking device blocks its unlimited rotation. As shown in fig. 20 and 21, assuming that the instrument adaptor 120A is a driving adaptor for driving the long shaft 110 to rotate, the instrument adaptor 120A is provided on a frame body 151 of the instrument driving part 150, the frame body 151 has an annular groove 124, one section of the annular groove 124 has a blocking body 125, a sliding column 123 is fixedly connected to a proximal end of the instrument adaptor 120A, and the other end of the sliding column 123 is provided in the annular groove 124.

When the tool adaptor 120A rotates to drive the sliding post 123 to slide in the annular groove 124, the blocking body 125 prevents the sliding post 123 from sliding further when the sliding post 123 slides to meet the blocking body 125, thereby preventing the tool adaptor 120A from rotating.

In this embodiment, because the blocking body 125 exists, the tool adaptor 120A cannot rotate 360 degrees, so in the second stage of engagement, the engagement disc 220A does not need to traverse 360 degrees of the tool adaptor 120A, and only the engagement disc 220A is defined to traverse the tool adaptor 120A according to the central angle of the annular groove 124. The preferred central angle of the annular groove 124 is 320 degrees, and the engagement disc 220A is rotated 160 degrees in the first direction from the initial position, then rotated 160 degrees in the second direction opposite to the first direction to return to the initial position after encountering the blocking body 125, and then rotated 160 degrees in the first direction to return to the initial position after encountering the blocking body 125 after rotated 160 degrees in the second direction.

For assembly reasons, once drive device 300, engagement device 200, and surgical instrument 100 are fully engaged, the axes of drive engagement discs 320A-320F may not be concentric with the axes of corresponding instrument drive discs 120A-120F. As shown in fig. 22 and 23, the drive coupler 320A is coupled to the instrument coupler 120A by the coupling disc 220A, the axis of the drive coupler 320A is D1, the axis of the instrument coupler 120A is D2, and the eccentric distance Δd between D2 and D1 is the same as that of the drive coupler 320A, the coupling disc 220A, and the instrument coupler 120A, and if the drive coupler 320A, the coupling disc 220A, and the instrument coupler 120A are hard coupled, the drive coupler 320A drives the coupler 220 to perform eccentric rotational movement, which greatly damages the driving device 300 and the surgical instrument 100, and generates loud noise during the movement. Thus, to eliminate the disadvantages associated with hard-coupling, in one embodiment, the drive coupler 320A, the engagement plate 220A, and the instrument coupler 120A are in soft-coupling.

Specifically, the third gap G3 exists between the instrument engagement portion 121 of the instrument adapter 120A and the first coupling portion 223 of the engagement disc 220A in the radial direction, the third gap G3 exists between the drive engagement portion 321 of the drive adapter 320A and the second coupling portion 222 of the engagement disc 220A, the fourth gap G4 exists between the engagement disc 220A and the inner wall of the receiving cavity of the housing 210, and the existence of the third gap G3 and the fourth gap G4 enables the engagement disc 220A to translate in the radial direction within the receiving cavity of the housing 210 relative to the drive adapter 120A and the instrument adapter 320A, and such translational movement of the engagement disc can mitigate eccentric movement of the drive adapter 220. In order to completely eliminate the adverse effect of the eccentric movement described above, it is preferable that the width of the fourth gap G4 in the engaging disk radial direction is made larger than the width of the third gap G3 in the engaging disk radial direction, and the width of the third gap G3 in the engaging disk radial direction is made larger than the eccentric distance Δd, so that soft engagement between the drive adapter 320A, the engaging disk 220A, and the instrument adapter 120A is achieved.

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

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

Claims

1. A slave operating device, characterized in that the slave operating device comprises a drive means, a surgical instrument and an engagement means, the drive means being engaged with the surgical instrument by means of the engagement means, the engagement means comprising a housing and a plurality of engagement discs, the plurality of engagement discs being accommodated in a plurality of accommodation cavities of the housing, the plurality of engagement discs being for engaging a plurality of drive adapters of the drive means and a plurality of instrument adapters of the surgical instrument, wherein the drive means are configured to engage the surgical instrument by:

after the engagement device is connected with the driving device, the plurality of driving engagers execute a first traversing motion of the plurality of engagement discs, and the driving device is positioned at an initial position after the first traversing motion is executed;

After the surgical instrument is connected with the engagement device, the plurality of drive engagers drive the plurality of engagement discs to perform a second traversing movement of the plurality of instrument engagers, at least a second traversing movement of a portion of the plurality of drive engagers having a rotational angle that is less than a rotational angle of the first traversing movement of the portion of the drive engagers; the rotation angle of the second traversing motion of the drive coupler for driving rotation of the long axis of the surgical instrument is greater than the rotation angle of the second traversing motions of the other drive couplers.

2. The slave operating device of claim 1, wherein the second traversal of the partial drive coupling rotates less than 13 degrees.

3. A slave operating device according to claim 1, wherein the drive means is in the initial position after the second traversing movement has been performed.

4. The slave operating device of claim 1, wherein the first traversal motions of the plurality of drive adapters are all the same.

5. A surgical robot comprising a master operation device and the slave operation device according to claim 1, the slave operation device being configured to perform a corresponding operation according to an input of the master operation device.