CN114795487A

CN114795487A - Surgical robot apparatus

Info

Publication number: CN114795487A
Application number: CN202111266155.6A
Authority: CN
Inventors: 牟鑫
Original assignee: Kochi Medical Technology Beijing Co ltd
Current assignee: Kochi Medical Technology Beijing Co ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-07-29

Abstract

A surgical robotic device, comprising: a surgical manipulator arm and a suspension device. The suspension device is connected with the operation arm and connected with a building component in an operating room so as to suspend the operation arm in the operating room, wherein the suspension device is isolated from the ground in the operating room and suspended in the air and can move towards a plurality of directions so as to drive the operation arm to move along the plurality of directions. The surgical operation arm of the surgical robot equipment has the advantages that the range of the adjustable distance in multiple directions is large, the range of the adjustable angle is large, the surgical operation arm is more flexible, the requirements on the surgical operation arm in the surgery can be better met, and particularly, the surgery is complicated.

Description

Surgical robot apparatus

Technical Field

At least one embodiment of the present disclosure is directed to a surgical robotic device.

Background

In robotic-assisted or telerobotic surgery, a surgeon typically operates master controllers to remotely control the movement of surgical instruments at a surgical site at a location remote from the patient (e.g., across an operating room, in a different room or building completely different from the patient). The master controller typically includes one or more manual input devices, such as joysticks, exoskeleton gloves or the like, that are coupled to the surgical instruments through servomotors that articulate the instruments at the surgical site. The servo motors are typically part of an electromechanical device or surgical manipulator that supports and controls a surgical instrument that has been introduced directly into an open surgical site or into a body cavity through a trocar sleeve. During surgery, the surgical manipulator provides articulation and control of various surgical instruments, such as tissue graspers, needle drivers, electrocautery probes, and the like, each of which performs a different function for the surgeon, such as grasping or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue.

The wheels are generally arranged on the base of the existing surgical robot, the surgical robot is pushed to the front of an operating table by a nurse before the operation is started, in addition, the personnel is required to replace instruments and monitor the operation in the operation, the surgical robot is provided with a plurality of cables connected to a display platform and a host, the ground space is narrow, the space beside an operating table is small, the personnel in the operating room are inconvenient to move, in addition, a plurality of surgical robots are possibly required for complex operations, and the space is insufficient to lead to the robot to be placed difficultly.

Therefore, how to make the occupied space of the surgical robot more reasonable is a technical problem to be solved by the technicians in the field.

Disclosure of Invention

At least one embodiment of the present disclosure provides a surgical robot apparatus including: a surgical manipulator arm and a suspension device. The suspension device is connected with the operation arm and connected with a building component in an operating room so as to suspend the operation arm in the operating room, wherein the suspension device is isolated from the ground in the operating room and suspended in the air and can move towards a plurality of directions so as to drive the operation arm to move along the plurality of directions. The surgical operation arm of the surgical robot equipment has the advantages that the range of the adjustable distance in multiple directions is large, the range of the adjustable angle is large, the surgical operation arm is more flexible, the requirements on the surgical operation arm in the surgery can be better met, and particularly, the surgery is complicated.

For example, an embodiment of the present disclosure provides a surgical robot apparatus, wherein the surgical operation arm includes a working end for performing a surgical operation and a non-working end opposite to the working end, and the suspension device is connected to the non-working end.

For example, the surgical robot device provided by an embodiment of the present disclosure includes at least one suspension device and at least one surgical operation arm group, each group of the at least one surgical operation arm group includes at least one surgical operation arm, and the at least one suspension device is connected with the at least one surgical operation arm group in a one-to-one correspondence manner; each of the at least one suspension device is configured to be movable in the plurality of directions to drive the corresponding surgical manipulation arm set to move in the plurality of directions.

For example, an embodiment of the present disclosure provides a surgical robot apparatus, wherein the plurality of directions include a first direction, a second direction, and a third direction perpendicular to each other, and the third direction is perpendicular to the ground; the surgical robotic device further includes a drive arrangement configured to drive each of the at least one suspension arrangement to move independently in the first direction, the second direction, and the third direction.

For example, an embodiment of the present disclosure provides a surgical robot apparatus, wherein the driving device includes: a first drive device, a second drive device, and a third drive device. The first driving device is used for driving the at least one suspension device to move along the first direction so as to drive the corresponding surgical operation arm group to move along the first direction; the second driving device is configured to drive the at least one suspension device to move along the second direction so as to drive the corresponding surgical operation arm group to move along the second direction; a third drive arrangement is configured to drive the at least one suspension arrangement to move in the third direction to drive the corresponding surgical manipulator arm set to move in the third direction, the first and second drive arrangements being secured to the architectural member within the operating room such that the suspension arrangement is coupled to the architectural member within the operating room, the third drive arrangement being coupled between the first and second drive arrangements in the third direction or being coupled between the first and second drive arrangements in the third direction.

For example, an embodiment of the present disclosure provides a surgical robot apparatus in which the first driving device includes a first rail extending in the first direction; the second drive device comprises a second track extending in the second direction; the at least one suspension device is slidably connected to the first rail, is arranged in the first direction, and is configured to be movable along the first rail independently of each other to drive the corresponding surgical operation arm group to move independently along the first direction; the first rail is slidably coupled to the second rail and is configured to be movable along the second rail to drive the at least one suspension device to move in the second direction.

For example, an embodiment of the present disclosure provides a surgical robotic device, wherein the second track includes a first sub-track and a second sub-track. The first sub-track extends along the second direction; the second sub-track extends along the second direction and is arranged at intervals with the first sub-track in the first direction; the first track is configured to be simultaneously movable along the first sub-track and the second sub-track to drive the surgical manipulator to move in the second direction.

For example, an embodiment of the present disclosure provides a surgical robot apparatus in which the first sub-track is located at a first end of the first track in the first direction, and the second sub-track is located at a second end of the first track opposite to the first end thereof in the first direction; the first end of the first track and the second end of the first track are respectively connected with the first sub-track and the second sub-track in a sliding mode and are configured to move along the first sub-track and the second sub-track simultaneously so as to drive the operation arm to move along the second direction.

For example, an embodiment of the present disclosure provides a surgical robot apparatus, wherein the first track includes a third sub-track and a fourth sub-track. A third sub-track extending in the first direction; the fourth sub-track extends along the first direction and is arranged at intervals with the third sub-track in the second direction; a first part of the at least one suspension device is arranged on the third sub-track and is configured to be movable along the third sub-track; a second part of the at least one suspension device is disposed on the fourth sub-track and configured to be movable along the fourth sub-track; the third sub-track is configured to be movable along the second track to drive the first partial suspension device to move along the second direction, and the fourth sub-track is configured to be movable along the second track to drive the second partial suspension device to move along the second direction; the movement of the first portion of the moveable suspension and the movement of the second portion of the moveable suspension are independent of each other.

For example, in the surgical robot apparatus provided in an embodiment of the present disclosure, the number of suspension devices included in the first partial suspension device is 1, and the number of suspension devices included in the second partial suspension device is 1.

For example, in the surgical robot apparatus provided by an embodiment of the present disclosure, in a case where the second track includes a first sub-track and a second sub-track, the third sub-track is configured to be simultaneously movable along the first sub-track and the second sub-track to drive the first partial suspension device to move in the second direction, and the fourth sub-track is configured to be simultaneously movable along the first sub-track and the second sub-track to drive the second partial suspension device to move the third sub-track in the second direction, and the fourth sub-track and the first sub-track are independent from each other.

For example, an embodiment of the present disclosure provides a surgical robot apparatus in which the first sub-track is located at a first end of the third sub-track in the first direction and a first end of the fourth sub-track in the first direction, the second sub-track is located at a second end of the third sub-track opposite to the first end thereof in the first direction and a second end of the fourth sub-track opposite to the first end thereof in the first direction; a first end of the third sub-track and a second end of the third sub-track are slidably connected to the first sub-track and the second sub-track, respectively, and are configured to move along the first sub-track and the second sub-track simultaneously to drive the first partial suspension device to move along the second direction; the first end of the fourth sub-track and the second end of the fourth sub-track are respectively connected to the first sub-track and the second sub-track in a sliding manner, and are configured to simultaneously move along the first sub-track and the second sub-track respectively so as to drive the second partial suspension device to move along the second direction.

For example, in the surgical robot apparatus provided by an embodiment of the present disclosure, the third driving device includes at least one sub-third driving device, the at least one sub-third driving device is connected to the at least one suspension device in a one-to-one correspondence, and each of the at least one sub-third driving device is configured to drive the corresponding suspension device to move along the third direction so as to drive the corresponding surgical operation arm group to move along the third direction; alternatively, the at least one suspension device comprises a plurality of suspension devices, and the third driving device is connected to the plurality of suspension devices and configured to drive the plurality of suspension devices to move along the third direction so as to drive the corresponding surgical operation arm group to move along the third direction.

For example, an embodiment of the present disclosure provides a surgical robot apparatus in which the third driving device is rotatable about a rotation axis in the third direction; and/or, the third drive arrangement comprises at least one joint at which the third drive arrangement is configured to be bendable; and/or the third drive means is retractable in the third direction.

For example, an embodiment of the present disclosure provides a surgical robotic device further including a fixing connector that fixes the first driving device and the second driving device to the building member in the operating room.

For example, an embodiment of the present disclosure provides a surgical robot apparatus, wherein each of the suspension devices includes a cylindrical fixed structure, the cylindrical fixed structure includes a first end far away from the ground and a second end opposite to the first end, and the first end of the cylindrical fixed structure is connected with the driving device; the cylindrical fixation structure further includes a plurality of sides, each of the plurality of sides extending from a first end of the cylindrical fixation structure to a second end of the cylindrical fixation structure, the non-working end of the surgical arm of each of the surgical arm assemblies being secured to at least one of the plurality of sides.

For example, an embodiment of the present disclosure provides a surgical robot apparatus, wherein one surgical manipulation arm is fixed to each of the plurality of side surfaces; the heights of the surgical operation arms fixed on the plurality of sides in the third direction are the same as or different from each other.

For example, in the surgical robot apparatus provided by an embodiment of the present disclosure, one surgical operation arm group includes a plurality of surgical operation arms and an end master control structure, and each suspension device includes a main body; the non-working ends of the surgical operation arms far away from the ground are gathered and connected to the end main control structure, and one end, close to the ground, of the main body of the suspension device is connected with the end main control structure; and a control structure for controlling the operation of the plurality of operation arms is arranged in the end part master control structure.

For example, an embodiment of the present disclosure provides a surgical robot apparatus in which a whole of the plurality of surgical operation arms connected to the end master control structure includes a first portion, a second portion, and a third portion arranged in an extending direction of the whole; in the first portion, the plurality of surgical arms are spaced apart from one another; a protective sleeve is arranged outside the second part, the protective sleeve wraps the plurality of surgical operation arms in the second part and enables the plurality of surgical operation arms in the second part to be gathered together, and the distance between the plurality of surgical operation arms in the second part is smaller than the distance between the plurality of surgical operation arms in the first part; the plurality of surgical arms extend out of the protective sheath from a port of the protective sheath distal from the first portion in the third portion, and the plurality of surgical arms are spaced apart from one another in the third portion.

For example, a surgical robotic device provided in an embodiment of the present disclosure includes a hoisting structure fixed to a building; the driving device comprises a first hoisting rod group, a second hoisting rod group and a third hoisting rod group which are connected between the hoisting structure and the suspension device; each of the first lifting rod group, the second lifting rod group and the third lifting rod group comprises at least two lifting rods; each hoisting rod of the first hoisting rod group, each hoisting rod of the second hoisting rod group and each hoisting rod of the third hoisting rod group are respectively provided with a first end connected with the hoisting structure and a second end connected with the suspension device; and each lifting rod of the first lifting rod group, each lifting rod of the second lifting rod group and each lifting rod of the third lifting rod group can be stretched along the respective extension direction thereof so as to drive the suspension device to move in the first direction, the second direction and the third direction together.

For example, in the surgical robot apparatus provided by an embodiment of the present disclosure, the driving device includes a suspension arm, one end of the suspension arm is connected to an end of the suspension device away from the ground, and an end of the suspension arm away from the suspension device is fixed to the building; the suspension arm is rotatable and/or retractable and/or bendable to drive the suspension means in the first, second and third directions.

For example, an embodiment of the present disclosure provides a surgical robotic device wherein each of the at least one suspension arrangement includes at least one adjustment member and a suspension structure; at least one adjusting component is connected with the at least one operation arm group in a one-to-one correspondence manner and is configured to be rotatable and/or telescopic and/or bendable so as to drive the corresponding operation arm group to move along the plurality of directions; a suspension structure is coupled to the at least one adjustment member and configured to suspend the at least one adjustment member from the building member within the operating room to suspend the at least one surgical manipulation arm set within the operating room.

For example, an embodiment of the present disclosure provides a surgical robotic device in which the suspension structure is fixed or movable in the plurality of directions.

For example, an embodiment of the present disclosure provides a surgical robot apparatus in which the building member is a ceiling, a beam, a side wall, or a floor of the operating room.

For example, an embodiment of the present disclosure provides a surgical robot apparatus including: the fixed support is fixed on the ground and comprises a plurality of longitudinal supports vertical to the ground and a plurality of transverse supports which are connected with the longitudinal supports and far away from the ground, and the transverse direction is vertical to the longitudinal direction; the suspension device is suspended on the transverse support, so that the suspension device is indirectly connected with the ground, and the operation arm is suspended in the operating room.

For example, an embodiment of the present disclosure provides a surgical robot apparatus, further including: a power device configured to provide power to drive the suspension device to move in a plurality of directions; and a control module configured to control operation of the power plant; alternatively, the suspension is moved by manual operation.

For example, in the surgical robot apparatus provided in an embodiment of the present disclosure, a control button is disposed on the surgical operation arm, and the control button is configured to control the control module to be turned on and off; the control module controls the power device to work to drive the suspension device to move in an opening state, and controls the power device to stop driving the suspension device to move in a closing state.

For example, an embodiment of the present disclosure provides a surgical robot apparatus further including an image processing device and a doctor control platform. The image processing device is configured to acquire and display image information of a lesion in a surgical procedure, wherein the image processing device is connected with a building component in an operating room so as to be suspended in the operating room; the doctor control platform is in wireless connection or wired connection with the operation arm so as to control the operation of the operation arm; under the condition that a doctor control platform is in wired connection with the operation arm, the suspension device comprises a box body connected with the operation arm, and a signal wire connected with the doctor control platform is arranged in the box body of the suspension device and in the operation arm.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.

Fig. 1A is a schematic structural diagram of a surgical robotic device according to an embodiment of the present disclosure;

FIG. 1B is an enlarged schematic view of a portion L of FIG. 1A including a third drive mechanism;

fig. 2 is a schematic plan view of a surgical robotic device provided in accordance with an embodiment of the present disclosure;

fig. 3 is a schematic plan view of another surgical robotic device provided in accordance with an embodiment of the present disclosure;

fig. 4A is a schematic plan view of yet another surgical robotic device provided in accordance with an embodiment of the present disclosure;

fig. 4B is a schematic plan view of yet another surgical robotic device provided in accordance with an embodiment of the present disclosure;

fig. 5A is a schematic plan view of yet another surgical robotic device provided in accordance with an embodiment of the present disclosure;

fig. 5B is a schematic plan view of yet another surgical robotic device provided in accordance with an embodiment of the present disclosure;

fig. 6 is a schematic diagram illustrating a connection relationship between a surgical operation platform, a doctor control platform and an image processing device in a surgical robot apparatus according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of another surgical robotic device provided in an embodiment of the present disclosure;

fig. 8A is a schematic view of another surgical robotic device provided in accordance with at least one embodiment of the present disclosure;

FIG. 8B is a schematic view of the suspension device and surgical manipulator of FIG. 8A;

9A-9C are schematic views of another surgical robotic device provided in accordance with at least one embodiment of the present disclosure;

fig. 10 is a schematic view of another surgical robotic device provided in accordance with at least one embodiment of the present disclosure;

fig. 11 is a schematic view of another surgical robotic device provided in at least one embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few 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 described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "inner", "outer", "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The drawings in this disclosure are not necessarily to scale, nor are the number of suspension devices, the number of surgical arms in each surgical arm assembly, and the specific dimensions and numbers of the various structures as may be desired. The drawings described in this disclosure are merely schematic structural illustrations.

Exemplarily, fig. 1A is a schematic structural diagram of a surgical robot apparatus provided in an embodiment of the present disclosure. As shown in fig. 1A, the surgical robot apparatus 10 includes: a surgical manipulator 11/12/13/14 and a suspension device 2. The suspension device 2 is connected to the surgical manipulator arm 11/12/13/14 and to an architectural member AC in an operating room to suspend the surgical manipulator arm 11/12/13/14 from the operating room; the suspension 2 is suspended in isolation from the floor in the operating room and is movable in multiple directions to actuate movement of the surgical manipulator arm 11/12/13/14 in multiple directions. The surgical robot equipment can be hung in an operating room, for example, the surgical operation arm can be hung right above a bed where a patient performs an operation, the surgical operation arm can be flexibly moved right above the bed where the patient performs the operation in the operation process, the distance from the surgical operation arm to the patient in multiple directions can be changed at any time, and compared with a common surgical robot which can be moved on the ground, the surgical operation arm of the surgical robot equipment provided by the embodiment of the disclosure has the advantages that the range of the adjustable distance in multiple directions is larger, the range of the adjustable angle is larger, the range is more flexible, the requirement of the surgical operation arm in the operation can be better met, and particularly, the complex operation can be realized.

Fig. 1A illustrates a surgical operation platform of a surgical robot apparatus, which is suspended above a bed for performing an operation during the operation. The surgical robotic device 10 provided by the disclosed embodiments is distinguished from conventional surgical robots that are movable over a ground surface. In a conventional surgical robot capable of moving on the ground, a surgical operation arm is arranged on a platform, the platform is positioned on the ground and can move on the ground, when an operation is needed, the platform is moved to move the surgical operation platform of the surgical robot to the side of a bed for performing the operation instead of suspending the surgical operation arm on a building component in an operating room through a suspension device 2, and the suspension device 2 is isolated from the ground in the operating room and suspended.

For example, the building element AC may be the ceiling of an operating room. Fig. 1A takes a case where the building component AC is a ceiling of an operating room, and the surgical operation arm is suspended from the ceiling of the operating room as an example, so that the building wall of the operating room is fully utilized, the suspension of the surgical operation arm of the surgical robot device is facilitated, the surgical operation arm is also facilitated to move above a bed for performing an operation, the degree of freedom and the amplitude of the movement of the surgical operation arm in the space above the bed are more easily realized, and the requirement of the operation on the position of the surgical operation arm is well met.

For example, the surgical robot apparatus 10 includes at least one suspension device and at least one surgical operation arm group, each of the at least one surgical operation arm group includes at least one surgical operation arm, and the at least one suspension device is connected to the at least one surgical operation arm group in a one-to-one correspondence; each of the at least one suspension devices is configured to be movable in a plurality of directions to drive a corresponding surgical manipulator arm set to move in the plurality of directions.

For example, as shown in fig. 1A, the surgical robot apparatus 10 includes a suspension device 2 and a surgical operation arm set 1, and the suspension device 2 is correspondingly connected to the surgical operation arm set 1; the surgical operation arm group 1 includes a plurality of, for example, four surgical operation arms, which are a first surgical operation arm 11, a second surgical operation arm 12, a third surgical operation arm 13, and a fourth surgical operation arm 14, respectively. For example, the embodiment shown in fig. 1A exemplifies a surgical robot including 4 surgical arms, however, in other embodiments, fewer or more than 4 surgical arms may be included. The scheme that one surgical operation arm group comprises one surgical operation arm can save space, and one suspension device 2 can drive a plurality of surgical operation arms of the surgical operation arm group to integrally move along the plurality of directions. For example, each surgical arm includes a plurality of joints about each of which the surgical arm can be flexed so that each surgical arm can be extended and retracted to meet the requirements of the surgical procedure. For example, each joint of the surgical arm includes an axis about which portions on either side of the joint may rotate to cause the surgical arm to bend.

For example, in some embodiments, the surgical robotic device 10 includes a plurality of suspension devices 2 and a plurality of surgical manipulator arm sets, each surgical manipulator arm set including only one surgical manipulator arm, i.e., one suspension device is suspended from one surgical manipulator arm, such that one suspension device drives the movement of one surgical manipulator arm in multiple directions to achieve independent movement of each surgical manipulator arm in each direction.

For example, in the embodiment shown in fig. 1A, suspension 2 is directly connected to surgical manipulator 11/12/13/14; for example, in other embodiments, the suspension device 2 may be indirectly connected to the surgical arm 11/12/13/14. For example, the suspension device 2 includes a case 210 and a fixing member 220 connected to an end of the case 210 away from the ground, and the case 210 is connected to the first driving device 31 through the fixing member 220.

For example, each surgical arm, such as the first surgical arm 11 of fig. 1A, includes a working end E1 for performing a surgical procedure and a non-working end E2 opposite the working end, and the suspension device is connected to the non-working end E1. In the course of performing an operation using the surgical robot apparatus 10, the working end E1 is attached with a surgical instrument such as a scalpel, a hemostatic forceps, or a puncture tool for boring a cavity of a surgical site in an endoscopic surgery.

For example, as shown in fig. 1A, the plurality of directions include a first direction D1, a second direction D2, and a third direction D3 that are perpendicular to each other, and the third direction D3 is perpendicular to the ground. The surgical robotic device further includes a drive arrangement configured to drive each of the at least one suspension arrangement to move independently in the first direction D1, the second direction D2, and the third direction D3. For example, as shown in fig. 1A to 2, the driving device includes: a first drive means 31, a second drive means 32 and a third drive means 33. The first driving device 31 is configured to drive the at least one suspension device 2 to move along the first direction D1 to drive the corresponding surgical operation arm set 1 to move along the first direction D1; the second driving device 32 is configured to drive the at least one suspension device 2 to move along the second direction D2 to drive the corresponding surgical operation arm set 1 to move along the second direction D2; the third driving device 33 is configured to drive the at least one suspension device 2 to move along the third direction D3 to drive the corresponding surgical operation arm set 1 to move along the third direction D3; the first drive device 31 and the second drive device 32 are fixed to the construction component AC in the operating room so that the suspension device 2 is connected to the construction component AC in the operating room.

For example, as shown in fig. 1A, the third driving device 33 is connected between the first driving device 31 and the suspension device 2 in the third direction D3; alternatively, in other embodiments, the third driving device 33 is connected between the first driving device 31 and the second driving device 32 in the third direction D3.

Fig. 2 is a schematic plan view of a surgical robotic device according to an embodiment of the present disclosure. As shown in fig. 1A and 2, for example, the first driving device 31 includes a first rail 310 extending in a first direction D1; the second drive device 32 includes a second rail 320 extending in a second direction D2; for example, only one first rail 310 extending in the first direction D1 and one second rail 320 extending in the second direction D2 are provided, respectively. The suspension devices 2 are slidably connected to the first rail 310 and configured to be movable along the first rail 310 independently of each other to drive the corresponding surgical operation arm sets 1 to move independently along the first direction D1; the first rail 310 is slidably connected to the second rail 320 and configured to be movable along the second rail 320 to drive the at least one suspension device 2 to move along the second direction D2.

As shown in fig. 2, for example, the surgical robot apparatus includes a suspension 2 and a surgical operation arm set 1 in fig. 1A (the surgical operation arm set 1 is not shown in fig. 2, and fig. 2 mainly illustrates a suspension and a driving device for fixing the surgical operation arm set 1 to a building body of an operating room). For example, the second track includes: a first sub-track 321 and a second sub-track 322. The first sub-track 321 and the second sub-track 322 both extend along the second direction D2, and the second sub-track 322 and the first sub-track 321 are arranged at an interval in the first direction D1, and the first track 310 is configured to be simultaneously movable along the first sub-track 321 and the second sub-track 322 to drive the surgical operation arm set 1 to move along the second direction D2, so that the first track 310 moves more smoothly along the second direction D2, and thus the surgical operation arm set 1 moves more smoothly along the second direction D2, which is beneficial to improving the accuracy and stability of the position of the surgical operation arm set 1, and is very critical to meet the requirement of the position of the surgical operation arm in the surgery. Of course, in other embodiments, the second driving device 32 may also include more than two tracks extending along the second direction, such as three, four, etc.

For example, the first sub-track 321 is located at a first end of the first track 310 in the first direction D1, and the second sub-track 322 is located at a second end of the first track 310 opposite to the first end thereof in the first direction D1; the first end of the first rail 310 and the second end of the first rail 310 are respectively slidably connected to the first sub-rail 321 and the second sub-rail 322, and are configured to simultaneously move along the first sub-rail 321 and the second sub-rail 322, respectively, to drive the surgical operation arm set 1 (surgical operation arm 11/12/13/14) to move along the second direction D2.

Fig. 1B is an enlarged schematic view of a portion L of fig. 1A including a third driving device. With reference to fig. 1A and 1B, the third driving device 33 includes a sub-third driving device 33A, the sub-third driving device 33A is correspondingly connected to the suspension device 2, and the sub-third driving device 33A is configured to drive the corresponding suspension device 2 to move along the third direction D3 so as to drive the corresponding surgical operation arm set 1 to move along the third direction D3. For example, in fig. 1A, the surgical robot apparatus 10 includes one suspension 2, and accordingly, the third driving device 33 includes one sub-third driving device 33A correspondingly connected to the suspension 2.

For example, as shown in fig. 1B, the third sub-driving device 33A includes a third sliding rail 330 extending along the third direction D3, for example, the suspension device 2 is further configured to be slidably connected with the third rail 330 and movable along the third rail 330 along the third direction D3, so as to drive the surgical operation arm set 1 connected with the suspension device 2 to move along the third direction D3.

For example, the surgical robotic device 10 also includes a power plant configured to provide power to drive the suspension in a plurality of directions and a control module. The control module is configured to control operation of the power plant; alternatively, the suspension is moved by manual operation. For example, the first drive device 31, the second drive device 32 and the third drive device each comprise a power device. Which are configured to drive the suspension 2 along the first rail 310, the second rail 321/322, and the third rail 330, respectively. Alternatively, the first drive device 31, the second drive device 32, and the third drive device share a power device. The first driving device 31, the second driving device 32, and the third driving device may be driven by motors, for example, and the embodiment of the present disclosure is not limited thereto.

For example, each surgical manipulator 11/12/13/14 has control buttons configured to control the opening and closing of the control module; the control module controls the power device to work in an open state to drive the suspension device to move, and controls the power device to stop driving the suspension device to move in a closed state, so that the operation of medical care personnel in the operation process is facilitated. Alternatively, the suspension may be moved by remote control. The embodiments of the present disclosure are not limited to the design of the control module.

For example, the third sub-driving device 33A is rotatable about a rotation axis in the third direction D3; and/or the third sub-drive 33A comprises at least one joint, the third sub-drive 33A being configured to be bendable at the at least one joint. For example, each of the at least one joint includes an axis about which the three sub-drive means 33A rotates to effect bending; and/or the third sub-drive 33A is telescopic in the third direction D3 to change the position of the suspension arrangement 2 in the third direction D3.

For example, the surgical robot apparatus 10 further includes a fixed connection 9, and the fixed connection 9 fixes the driving device to a building component AC such as a ceiling in the operating room. For example, in the embodiment shown in fig. 1A and 2, the fixed connection 9 secures the first drive device 31 and the second drive device 32 to a building element AC, such as a ceiling, in the operating room. For example, a third moving means is also provided on the fixed connection 9.

For example, in other embodiments, the building element AC may also be a beam, a side wall (wall) of an operating room; alternatively, the building element AC is a ground surface, for example, the fixed connection 9 is fixed directly to the ground surface, the suspension unit connected to the fixed connection 9 is fixed directly to the ground surface, and the suspension unit is driven by the driving unit to move in multiple directions.

Alternatively, for example, in other embodiments, such as shown in fig. 7, the surgical robotic device 10 may include a fixed support fixed to the ground, the building component AC is fixed to a fixed support built on the ground of the operating room, and the suspension device may be directly fixed to a fixed support built on the ground of the operating room. The fixed support comprises a plurality of longitudinal supports 41/42/43/44 vertical to the ground and a plurality of transverse supports 61/62/63 connected with the plurality of longitudinal supports 41/42/43/44 and far away from the ground, wherein the transverse direction is vertical to the longitudinal direction; the suspension device 2 is suspended from the lateral support 61 to suspend the surgical arm within the operating room. In this case, the arrangement of the first track 310 and the second track (e.g. including the first sub-track 321 and the second sub-track 322) may refer to the description in the previous embodiments.

Fig. 3 is a schematic plan view of another surgical robotic device provided in an embodiment of the present disclosure. For example, in another embodiment, as shown in fig. 3, the surgical robot apparatus 10 includes a plurality of suspension devices, respectively, a first suspension device 21, a second suspension device 22, a third suspension device 23, and a fourth suspension device 24; the first suspension device 21, the second suspension device 22, the third suspension device 23 and the fourth suspension device 24 are respectively connected with the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C and the fourth surgical operation arm group 1D. For example, each of the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C, and the fourth surgical operation arm group 1D includes one surgical operation arm. The third driving device includes a plurality of third sub-driving devices, the plurality of third sub-driving devices are connected to the plurality of suspension devices 21/22/23/24, and the plurality of third sub-driving devices are respectively configured to drive the corresponding suspension devices to move along the third direction D3 so as to drive the corresponding surgical operation arm group to move along the third direction D3. Each of the third sub-driving devices is the same as the above-described structure, and reference may be made to the foregoing description.

As shown in fig. 3, each surgical arm includes a working end E1 and a non-working end E2 opposite the working end, the suspension device being connected to the non-working end E1. In the process of performing an operation using the surgical robot apparatus 10, the surgical instrument fixing device 8 is attached to the working end E1, the surgical instrument 80 is attached to the surgical instrument fixing device 8, and the surgical instrument 80 is, for example, a scalpel, a hemostatic forceps, a puncture tool for performing endoscopic surgery to punch a cavity of a surgical site, or the like. Each surgical arm includes a plurality of joints about each of which it can flex and rotate.

As shown in fig. 3, for example, the first track includes a third sub-track 311 and a fourth sub-track 312, and the third sub-track 311 and the fourth sub-track 312 respectively extend along the first direction D1; the fourth sub-track 312 extends along the first direction D1, and is spaced apart from the third sub-track 311 in the second direction D2. A first part of the plurality of suspension devices, such as the first suspension device 21 and the second suspension device 22, is disposed on the third sub-track 311 and configured to be movable along the third sub-track 311; a second part of the plurality of suspension devices, such as the third suspension device 23 and the fourth suspension device 24, is disposed on the fourth sub-rail 312 and configured to be movable along the fourth sub-rail; the third sub-track 311 is configured to be movable along the second track to drive the first partial suspension to move along the second direction D2, and the fourth sub-track is configured to be movable along the second track to drive the second partial suspension to move along the second direction D2. In this manner, the movement of the first portion of the movable suspension device and the movement of the second portion of the movable suspension device are independent of each other, so that the position of the surgical manipulator arm connected to the movement of the first portion of the movable suspension device and the second portion of the movable suspension device in the second direction D2 can be controlled independently and more flexibly.

For example, as shown in fig. 3, the third sub-track 311 is configured to be simultaneously movable along the first sub-track 321 and the second sub-track 322 to drive the first part of the suspension device to move along the second direction D2, the fourth sub-track 312 is configured to be simultaneously movable along the first sub-track 321 and the second sub-track 322 to drive the second part of the suspension device to move along the second direction D2, and the movement of the third sub-track 311 and the movement of the fourth sub-track 312 are independent of each other. For example, the first sub-track 321 is located at a first end of the third sub-track 311 in the first direction D1 and a first end of the fourth sub-track 312 in the first direction D1, the second sub-track 322 is located at a second end of the third sub-track 311 opposite to the first end thereof in the first direction D1 and a second end of the fourth sub-track 312 opposite to the first end thereof in the first direction D1; the first end of the third sub-rail 311 and the second end of the third sub-rail 311 are respectively slidably connected to the first sub-rail 321 and the second sub-rail 322, and are configured to simultaneously move along the first sub-rail 321 and the second sub-rail 322 respectively to drive the first partial suspension device to move along the second direction D2; a first end of the fourth sub-rail 312 and a second end of the fourth sub-rail 312 are slidably connected to the first sub-rail 321 and the second sub-rail 322, respectively, and are configured to simultaneously move along the first sub-rail 321 and the second sub-rail 322, respectively, to drive the second partial suspension device to move along the second direction D2.

In the case where the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C, and the fourth surgical operation arm group 1D include one surgical operation arm, respectively, flexibility of control for a single surgical operation arm can be improved.

For example, in the embodiment shown in fig. 3, the first portion of suspension devices comprises a plurality of suspension devices and the second portion of suspension devices comprises a plurality of suspension devices.

For example, each rail is a lead screw drive, or alternatively, a belt drive. In the case where each track is screw-driven, for example, the first sub-track includes a first screw, the screw of the first screw extends in the second direction D2, and the driving end of the first screw is located at the first end of the first sub-track in the second direction D2; the second sub-track comprises a second lead screw, the lead screw of the second lead screw extends along the second direction D2, and the driving end of the second lead screw is positioned at the first end of the second sub-track in the second direction D2; the first lead screw and the second lead screw jointly drive the first track to move along the second track; the third sub-track comprises a third lead screw, the lead screw of the third lead screw extends along the first direction D1, the driving end of the third lead screw is positioned at the first end of the third sub-track in the first direction D1, and the third lead screw drives the first partial suspension device to move along the third sub-track; the fourth sub-track comprises a fourth lead screw, a lead screw of the fourth lead screw extends along the first direction D1, a driving end of the fourth lead screw is located at a first end of the fourth sub-track in the first direction D1, and the fourth lead screw drives the second partial suspension device to move along the fourth sub-track.

Other features of the embodiment shown in fig. 3 can be referenced to the embodiment shown in fig. 1A-1B and will not be repeated here.

Fig. 4A is a schematic plan view of another surgical robotic device provided in an embodiment of the present disclosure. In the embodiment shown in fig. 4A, the number of suspension devices included in the first suspension device portion is 1, and the number of suspension devices included in the second suspension device portion is 1, that is, one suspension device is disposed on a track extending along the first direction D1, so as to independently control the position of each suspension device and the surgical arm connected thereto in the second direction D1.

As shown in fig. 4A, for example, the plurality of suspension devices 21/22/23/24 are slidably connected to the plurality of first tracks in a one-to-one correspondence, and the plurality of sub-tracks of the first tracks, i.e., the first sub-track 311, the second sub-track 312, the third sub-track 313 and the fourth sub-track 314, are arranged in the first direction D1, and are configured to be movable independently of each other along the corresponding first tracks to drive the corresponding surgical operation arm group 1 to move independently along the first direction D1. The first sub-rail 311, the second sub-rail 312, the third sub-rail 313 and the fourth sub-rail 314 are slidably connected to the second rail 321, and configured to be movable along the second rail 321/322 to drive the plurality of suspension devices 2 to move along the second direction D2. It is thereby possible to realize that each surgical operation arm group 1 moves independently in the first direction D1, and, in the case where each surgical operation arm group 1D includes one surgical operation arm, respectively, the flexibility of control for the single surgical operation arm can be improved.

Fig. 4B is a schematic plan view of another surgical robotic device according to an embodiment of the present disclosure. The embodiment shown in fig. 4B is different from the embodiment shown in fig. 4A in that, in the embodiment shown in fig. 4B, the second track includes a first sub-track 321 and a second sub-track 322, and both ends of each of the first sub-track 311, the second sub-track 312, the third sub-track 313 and the fourth sub-track 314 of the first track are respectively disposed on the first sub-track 321 and the second sub-track 322 and are configured to be simultaneously movable along the first sub-track 321 and the second sub-track 322 to drive the first partial suspension device to move along the second direction D2.

Other features of the embodiment shown in fig. 4B can be referenced to the embodiment shown in fig. 4A and will not be repeated here.

Fig. 5A is a schematic plan view of another surgical robot provided in an embodiment of the present disclosure, and fig. 5B is a schematic plan view of another surgical robot provided in an embodiment of the present disclosure. It should be noted that, since the embodiment shown in fig. 5A and 5B is different from the previous embodiment mainly in the surgical operation arm set, fig. 5A and 5B only show the surgical operation arm set, and the structures of the suspension device, the first rail, the second rail, and the like are omitted, and the omitted structures are the same as those in the embodiment shown in fig. 3, 4A, or 4B, and reference may be made to the previous description.

As shown in fig. 5A, each of the at least one suspension devices of the surgical robotic apparatus includes at least one adjustment member 51/52/53/54 and a suspension structure (not shown) on which at least one adjustment member 51/52/53/54 is disposed. For example, the at least one adjustment member 51/52/53/54 is connected in a one-to-one correspondence with the at least one surgical manipulator arm set 11/12/13/14 and is configured to be rotatable and/or retractable and/or bendable to drive the corresponding surgical manipulator arm set 11/12/13/14 to move in a plurality of directions, including, for example, the first direction D1, the second direction D2, and the third direction D3 described above; the suspension structure is coupled to the at least one adjustment member and is configured to suspend the at least one adjustment member 51/52/53/54 from the building member AC in the operating room to suspend the at least one surgical manipulation arm set 11/12/13/14 from the operating room. For example, the suspension structure is fixed to the building element AC in the operating room via the above-mentioned fixed connection 9.

As shown in fig. 5A, for each adjustment member, it is movable from a position 1 shown by a broken line to a position 2 shown by a solid line. Of course, the position of each adjustment member is not limited to this position 1 and position 2, thereby driving the movement of the surgical operation arm set connected thereto.

For example, the suspension apparatus of the embodiment shown in fig. 5A includes a plurality of adjustment members and a plurality of suspension structures, the plurality of adjustment members being connected in one-to-one correspondence with the plurality of suspension structures, taking as an example that the suspension apparatus includes four adjustment members and four suspension structures. The four adjusting members are a first adjusting member 51, a second adjusting member 52, a third adjusting member 53, and a fourth adjusting member 54, respectively. Each adjustment member (exemplified by the first adjustment member 51) includes a first end F1 and a second end F2 opposite the first end; for example, the first end F1 of each adjustment member is connected with a plurality of suspension structures, respectively, and the second end F2 of each adjustment member is connected with a corresponding surgical manipulator arm set, each surgical manipulator arm set including at least one surgical manipulator arm 11. For example, in this embodiment, the surgical manipulator arm set connected to each adjustment member includes a surgical manipulator arm, which is a first surgical manipulator arm 11, a second surgical manipulator arm 12, a third surgical manipulator arm 13, and a fourth surgical manipulator arm 14. Of course, in other embodiments, a plurality of adjustment members may be provided on one suspension structure.

Other structures of the surgical robot apparatus of the embodiment shown in fig. 5A may be the same as those of the previous embodiments, and reference may be made to the previous related description.

The surgical robot apparatus shown in fig. 5B is different from that shown in fig. 5A in that the surgical operation arm groups 1A/1B/1C/1D connected to each adjustment member 51/52/53/54 respectively include a plurality of surgical operation arms, so that more surgical operation arms can be controlled to move in a space above the bed in a plurality of directions with a limited space. Other structures of the surgical robot apparatus of the embodiment shown in fig. 5B may be the same as those of the previous embodiments, and reference may be made to the previous related description.

For example, the suspension structure may be fixed, or may be movable in multiple directions, or may be rotatable.

For example, the control module may control the braking force device to drive the at least one adjustment member in a telescoping and rotational motion to effect movement of the at least one adjustment member to drive the surgical manipulation arm set coupled thereto in a plurality of directions including, for example, the first direction D1, the second direction D2, and the third direction D3 as described above.

Fig. 6 is a schematic diagram illustrating a connection relationship between a surgical operation platform, a doctor control platform and an image processing device in a surgical robot apparatus according to an embodiment of the present disclosure. For example, as shown in fig. 6, the surgical robot apparatus further includes an image processing device 103 and a surgeon control platform 101. The image processing device 103 is configured to acquire and display image information of a lesion during a surgical procedure. For example, the image processing apparatus 103 is connected with the building member AC in the operating room to be suspended in the operating room or disposed on the ground, for example, the image processing apparatus 103 is movable or fixed on the ground. For example, the physician control platform 101 is disposed on the ground, is movable, or is fixed to the ground.

For example, the surgeon control platform 101 is wirelessly or wired to the surgical manipulator arm to control the operation of the surgical manipulator arm.

For example, in the case where the surgeon control platform 101 is connected to the surgical operation arm 11/12/13/14 by wire, the suspension device 2 includes a box 210 connected to the surgical operation arm and a fixing member 220 connected to an end of the box 210 away from the surgical operation arm, and the signal line connected to the surgeon control platform 101 is disposed in the box 210 of the suspension device 2 and in the surgical operation arm 11/12/13/14, that is, a first portion of the signal line connected to the surgeon control platform 101 may be disposed along the ground, and a second portion connected to the first portion of the signal line connected to the surgeon control platform 101 is embedded in the surgical operation arm 11/12/13/14, and the signal line connected to the surgeon control platform is connected to the imaging processing system 103 along the surgical operation arm beam, for example.

For example, another signal line is connected from the imaging processing system 103 to the physician monitoring platform 101 along the ground to connect the imaging processing system 103 and the physician monitoring platform 101 in signal, although the two can also be connected wirelessly.

Fig. 8A is an overall schematic view of a surgical robotic device according to at least one embodiment of the present disclosure, and fig. 8B is a schematic view of a suspension device and a surgical manipulator arm in fig. 8A. As shown in fig. 8A-8B, each suspension device comprises a cylindrical fixed structure 20, the cylindrical fixed structure 20 comprising a first end 20A remote from the ground and a second end 20B opposite to the first end 20A thereof, the first end 20A of the cylindrical fixed structure 20 being connected to a driving device; the cylindrical fixation structure 20 further includes a plurality of sides 20A/20B (two sides 20A/20B, more than two sides, are shown in fig. 8B due to the perspective), each of the two sides 20A/20B extending from the first end 20A of the cylindrical fixation structure 20 to the second end 20B of the cylindrical fixation structure 20; the non-working end of the surgical arm of each surgical arm set is secured to at least one of the plurality of sides. For example, the surgical operation arm set connected with the suspension device comprises a plurality of surgical operation arms 1A/1B/1C/1D, and the non-working ends of the plurality of surgical operation arms 1A/1B/1C/1D are fixed on a plurality of side surfaces 20a/20B of the cylindrical fixing structure 20.

For example, the cylindrical fixing structure 20 is shaped as a prism as a whole, and the plurality of side surfaces 20a/20b are a plurality of side surfaces of the prism. For example, in at least one embodiment, one surgical arm is secured to each of a plurality of sides. In the embodiment shown in fig. 8A-8B, the fixing structure 20, for example, having a cylindrical shape, is generally in the shape of a quadrangular prism, and the first, second, third and fourth

surgical operation arms

1A, 1B, 1C and 1D are fixed to four sides of the quadrangular prism, respectively.

For example, the heights of the plurality of laterally fixed surgical arms 1A/1B/1C/1D in the third direction are different from each other, so that each surgical arm has sufficient extension space to move in three dimensions better, and to reduce spatial interference between each other. Of course, in other embodiments, the heights of the surgical arms 1A/1B/1C/1D fixed on the plurality of sides in the third direction may be the same as each other as long as the plurality of surgical arms do not interfere with each other in movement.

For example, in the case of the driving device of fig. 8B, i.e. taking the rail-type driving device shown in any one of the above-mentioned embodiments as an example, the end 20A of the cylindrical fixing structure 20 far from the ground is slidably connected to the third rail 330 and is configured to be movable along the third rail 330 in the third direction D3, so as to drive the cylindrical fixing structure 20 to move in the third direction, thereby driving the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C and the fourth surgical operation arm group 1D connected to the cylindrical fixing structure 20 (i.e. the suspension device) to move in the third direction D3.

Alternatively, in other embodiments, one side of the cylindrical fixation structure 20 secures a plurality of surgical arms. For example, at least one side surface is not provided with a surgical operation arm, the side surface of the surgical operation arm is not provided with a surgical operation arm, the surgical operation arm is slidably connected with the third rail 330, and the surgical operation arm is configured to be movable along the third rail 330 in the third direction D3, so that the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C and the fourth surgical operation arm group 1D connected with the suspension device are driven to move along the third direction D3.

For the embodiment shown in fig. 8A-8B, the arrangement of the first and second rails and the method of controlling movement of the surgical manipulator arm assemblies coupled to the suspension in the first and second directions D1 and D2, respectively, are the same as in the previous embodiment, and reference is made to the previous description and will not be repeated here. Of course, other driving devices mentioned in the embodiments of the present disclosure may be used instead of the linear lifting type driving device formed by the first rail, the second rail and the third rail used in the embodiment shown in fig. 8A.

Fig. 9A-9C are schematic views of another surgical robotic device provided in accordance with at least one embodiment of the present disclosure. This embodiment has the following differences from the previous embodiments. As shown in fig. 9A-9C, a surgical arm assembly includes a plurality of surgical arms and an end master structure 100, each suspension device including a body 2 a; the non-working ends of the plurality of operation arms far away from the ground are gathered and connected to the end part master control structure 100, and one end of the main body 2a of the suspension device close to the ground is connected with the end part master control structure 100; for example, the end of the body 2a of the suspension unit near the ground is connected to the end bus structure 100. The end master control structure 100 is provided with a control structure for controlling the operation of a plurality of surgical operation arms, and the control structure comprises a mechanical control structure, a circuit and the like.

For example, the entirety of the plurality of surgical arms connected to the end bus structure 100 includes a first portion 100a, a second portion 100b, and a third portion 100c arranged in the extending direction of the entirety. In the first portion 100a, a plurality of surgical arms are spaced apart from one another; the second part 100b is externally provided with a protective sleeve, the protective sleeve wraps the plurality of surgical operation arms in the second part 100b and enables the plurality of surgical operation arms in the second part 100b to be gathered together, the distance between the plurality of surgical operation arms in the second part 100b is smaller than the distance between the plurality of surgical operation arms in the first part 100a, for example, at least some of the plurality of surgical operation arms in the second part 100b contact with each other; in the third portion 100c, the plurality of surgical arms extend divergently out of the protective sheath from a port of the protective sheath distal from the first portion 100a, and the plurality of surgical arms in the third portion 100c are spaced apart from each other, i.e., in the third portion 100c, without the protective sheath being provided, the plurality of surgical arms diverge from a port of the protective sheath distal from the first portion 100a, the plurality of surgical arms again being spaced apart from each other.

For example, the end of the third portion 100c distal to the second portion 100b includes a surgical implement 100c-1 (e.g., a hemostat, a cutting knife, a grasping device, an ultrasonic knife, etc.) and a laparoscope 100c-2, respectively.

For example, in the driving device shown in fig. 9A, that is, in the case of the rail-type driving device shown in any one of the above embodiments, the end 2b of the main body 2a away from the ground is slidably connected to the third rail 330, and is configured to be movable along the third rail 330 in the third direction D3, so as to drive the surgical operation arm assembly connected to the suspension device to move in the third direction D3.

The operation arm is hung on a building body of an operating room by using the structures shown in FIGS. 9A-9C, and can move in a three-dimensional space, so that the operation arm is simple in structure, high in applicability and flexible to move above an operation bed in the operation process. When the operation arm shown in fig. 9A-9C is used for performing an operation, a hole can be formed in the body surface of a patient, so that the second part 100b and the third part 100C enter the cavity of the patient through the hole, the wound is small, the lifting mode only needs the lifting part main control structure 100, the operation arm can be conveniently moved in the three-dimensional direction, the lifting structure is simplified, and the operation is convenient.

For the embodiment shown in fig. 9A-9C, the arrangement of the first and second rails and the method of controlling the movement of the surgical manipulator arm assembly connected to the suspension in the first and second directions D1 and D2, respectively, are the same as in the previous embodiment, and reference is made to the previous description and will not be repeated here. Of course, other driving devices mentioned in the embodiments of the present disclosure may be used instead of the linear lifting type driving device formed by the first rail, the second rail and the third rail used in the embodiment shown in fig. 9A.

In the previous embodiment, the suspension device is hoisted in a linear hoisting manner. Fig. 10 is a schematic view of another surgical robotic device provided in at least one embodiment of the present disclosure. In the embodiment shown in fig. 10, the suspension device is hoisted by adopting a parallel hoisting mode. As shown in fig. 10, the surgical robot apparatus includes a hoisting structure 300 connected to a building body, and a suspension device 200, wherein the hoisting structure 300 is fixed to the building body; the driving means comprise a first set of lifting bars 201, a second set of lifting bars 202 and a third set of lifting bars 203 connected between the lifting structure 300 and the suspension device 200. Each of the first, second and third hanger bar sets 201, 202 and 203 comprises at least two hanger bars. Each lifting rod of the first lifting rod group 201, each lifting rod of the second lifting rod group 202 and each lifting rod of the third lifting rod group 203 are respectively provided with a first end connected with the lifting structure 300 and a second end connected with the suspension device 200; and each lifting rod of the first lifting rod group 201, each lifting rod of the second lifting rod group 202 and each lifting rod of the third lifting rod group 203 can be extended and retracted to drive the suspension device 200 to move in the first direction, the second direction and the third direction together, namely to drive the suspension device 200 to move in a three-dimensional space together, so as to set the position of the suspension device 200 in the three-dimensional space.

For example, the first lifting rod group 201 includes a first lifting rod 201a and a second lifting rod 201b, the second lifting rod group 202 includes a third lifting rod 202a and a fourth lifting rod 202b, and the third lifting rod group 203 includes a fifth lifting rod 203a and a sixth lifting rod 203 b. The suspension device 200 includes a load-bearing surface 200a remote from the surgical manipulator arm 11/12/13/14d, and a second end of each hanger bar of the first hanger bar set 201, each hanger bar of the second hanger bar set 202, and each hanger bar of the third hanger bar set 203 is secured to the load-bearing surface 200 a. The first and

second lifting rods

202a and 202b, the third and

fourth lifting rods

202a and 202b, and the fifth and

sixth lifting rods

203a and 203b are telescopic along their respective extension directions to cooperate to change the position of the suspension device 200 and the surgical operating arm 11/12/13/14 connected to the suspension device 200 in the first, second, and third directions D1, D2, and D3, thereby setting the position of the suspension device 200 in three-dimensional space.

It should be noted that the driving device shown in fig. 10 can also be combined with the suspension device and the surgical operation arm shown in fig. 8B, or combined with the suspension device and the surgical operation arm shown in fig. 9B to obtain a new embodiment.

For example, the planar shape of the rail 200a is a ring shape, such as a circular ring. Of course, the planar shape of the hoisting structure 300 may also be a polygonal ring, such as a triangular ring, a quadrilateral ring, etc., or may be a plurality of linear rails intersecting with each other, for example, including a linear rail extending along the first direction D1 and a linear rail extending along the second direction D2, which is not limited by the embodiment of the present disclosure.

Fig. 11 is a schematic view of another surgical robotic device provided in at least one embodiment of the present disclosure. In the embodiment shown in fig. 11, the suspension device is hoisted by using a serial hoisting manner. As shown in fig. 11, the driving device includes a suspension arm 240, one end of the suspension arm 240 is connected to an end of the suspension device 2 away from the ground, and one end of the suspension arm 240 away from the suspension device 2, i.e., one end of the suspension arm 240 away from the surgical operation arm 11/12/13/14, is fixed to a building body, such as any one of the above-mentioned building bodies, e.g., a ceiling; suspension arm 240 is rotatable and/or retractable and/or bendable to drive suspension device 2 in movement in first direction D1, second direction D1, and third direction D1, thereby driving and surgical manipulation arm 11/12/13/14 in movement in first direction D1, second direction D2, and third direction D3.

For example, suspension arm 240 includes a plurality of joints, for example, each of which can make 360 ° rotations.

For example, the suspension device 2 includes a housing 210, one end of a suspension arm 240 is connected to an end of the housing 210 away from the ground, and an end of the suspension arm 240 away from the surgical operation arm 11/12/13/14 is fixed to a ceiling of a building such as an operating room.

For example, in fig. 11, a plurality of surgical arms 11/12/13/14 are commonly connected to one suspension arm 240, in other embodiments, one surgical arm may be connected to one suspension arm 240, so that each surgical arm is separately driven by each suspension arm 240 to move in the first direction D1, the second direction D2 and the third direction D3, thereby realizing independence of movement of each surgical arm in three dimensions and increasing flexibility of position control of different surgical arms during a surgical procedure.

In other embodiments, the suspension device may be hoisted by using a combination of serial connection and parallel connection, that is, the parallel-type driving device shown in fig. 10 is connected in series with the serial-type driving device shown in fig. 11 as a whole, the suspension device and the surgical operation arm connected with the suspension device are suspended on the building body of the operation room by one of the parallel-type driving device shown in fig. 10 and the serial-type driving device shown in fig. 11, and the positions of the suspension device and the surgical operation arm connected with the suspension device are determined by the movements of the parallel-type driving device and the serial-type driving device; alternatively, the parallel driving device shown in fig. 10 and the serial driving device shown in fig. 11 are used together, and the parallel driving device shown in fig. 10 and the serial driving device shown in fig. 11 are independent of each other, and the suspension device and the surgical arm connected to the suspension device are respectively suspended on the building body of the operating room by the parallel driving device shown in fig. 10 and the serial driving device shown in fig. 11, so that the positions of the suspension device connected thereto and the surgical arm connected to the suspension device are respectively controlled.

The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.

Claims

1. A surgical robotic device comprising:

a surgical manipulator arm; and

and the suspension device is connected with the operation operating arm and is connected with a building component in an operating room so as to suspend the operation operating arm in the operating room, wherein the suspension device is isolated from the ground in the operating room and is suspended in the air, and can move towards a plurality of directions so as to drive the operation operating arm to move along the plurality of directions.

2. The surgical robotic device of claim 1, wherein the surgical manipulator arm includes a working end for performing a procedure and a non-working end opposite the working end, the suspension device being connected to the non-working end.

3. The surgical robotic device of claim 2, comprising at least one of the suspension devices and at least one surgical manipulator arm set, each of the at least one surgical manipulator arm set comprising at least one of the surgical manipulator arms, the at least one suspension device connected in one-to-one correspondence with the at least one surgical manipulator arm set;

each of the at least one suspension device is configured to be movable in the plurality of directions to drive the corresponding surgical manipulation arm set to move in the plurality of directions.

4. The surgical robotic device of claim 3, the plurality of directions including a first direction, a second direction, and a third direction perpendicular to each other, the third direction being perpendicular to the ground;

the surgical robot apparatus further includes:

a driving device configured to drive each of the at least one suspension device to move independently in the first direction, the second direction, and the third direction.

5. The surgical robotic device of claim 4, wherein the drive means comprises:

a first driving device configured to drive the at least one suspension device to move along the first direction so as to drive the corresponding surgical operation arm group to move along the first direction;

a second driving device configured to drive the at least one suspension device to move along the second direction so as to drive the corresponding surgical operation arm group to move along the second direction; and

a third driving device configured to drive the at least one suspension device to move along the third direction to drive the corresponding surgical operation arm group to move along the third direction,

the first and second drive means are secured to the building element within the operating room such that the suspension means is connected to the building element within the operating room, and the third drive means is connected in the third direction between the first drive means and the suspension means or in the third direction between the second drive means and the suspension means.

6. The surgical robotic device of claim 5,

the first drive device comprises a first track extending in the first direction;

the second drive device comprises a second track extending in the second direction;

the at least one suspension device is slidably connected to the first rail, is arranged in the first direction, and is configured to be movable along the first rail independently of each other to drive the corresponding surgical operation arm group to move independently along the first direction;

the first rail is slidably coupled to the second rail and is configured to be movable along the second rail to drive the at least one suspension device to move in the second direction.

7. The surgical robotic device of claim 6, wherein the second rail comprises:

a first sub-track extending in the second direction; and

a second sub-track extending in the second direction and arranged at a distance from the first sub-track in the first direction,

the first track is configured to be simultaneously movable along the first sub-track and the second sub-track to drive the surgical manipulation arm to move in the second direction.

8. The surgical robotic device of claim 7,

the first sub-track is located at a first end of the first track in the first direction, and the second sub-track is located at a second end of the first track opposite to the first end thereof in the first direction;

the first end of the first track and the second end of the first track are respectively connected with the first sub-track and the second sub-track in a sliding mode and are configured to move along the first sub-track and the second sub-track simultaneously so as to drive the operation arm to move along the second direction.

9. The surgical robotic device of claim 6 or 7, wherein the first rail comprises:

a third sub-track extending in the first direction; and

a fourth sub-track extending in the first direction and arranged at an interval from the third sub-track in the second direction,

a first part of the at least one suspension device is arranged on the third sub-track and is configured to be movable along the third sub-track;

a second part of the at least one suspension device is disposed on the fourth sub-track and configured to be movable along the fourth sub-track;

the third sub-track is configured to be movable along the second track to drive the first partial suspension device to move along the second direction, and the fourth sub-track is configured to be movable along the second track to drive the second partial suspension device to move along the second direction;

the movement of the first portion of the moveable suspension and the movement of the second portion of the moveable suspension are independent of each other.

10. The surgical robotic device of claim 9, wherein the first partial suspension device comprises 1 number of suspension devices and the second partial suspension device comprises 1 number of suspension devices.

11. The surgical robotic device of claim 9, wherein, where the second track includes a first sub-track and a second sub-track,

the third sub-track is configured to be simultaneously movable along the first sub-track and the second sub-track to drive the first partial suspension device to move along the second direction, and the fourth sub-track is configured to be simultaneously movable along the first sub-track and the second sub-track to drive the second partial suspension device to move the third sub-track along the second direction and the fourth sub-track are independent of each other.

12. The surgical robotic device of claim 11,

the first sub-track is located at a first end of the third sub-track in the first direction and a first end of the fourth sub-track in the first direction, the second sub-track is located at a second end of the third sub-track opposite to the first end thereof in the first direction and a second end of the fourth sub-track opposite to the first end thereof in the first direction;

a first end of the third sub-track and a second end of the third sub-track are slidably connected to the first sub-track and the second sub-track, respectively, and are configured to move along the first sub-track and the second sub-track simultaneously to drive the first partial suspension device to move along the second direction;

the first end of the fourth sub-track and the second end of the fourth sub-track are respectively connected to the first sub-track and the second sub-track in a sliding manner, and are configured to simultaneously move along the first sub-track and the second sub-track respectively so as to drive the second partial suspension device to move along the second direction.

13. The surgical robotic device of any one of claims 5-8,

the third driving device comprises at least one sub-third driving device, the at least one sub-third driving device is connected with the at least one suspension device in a one-to-one correspondence manner, and each sub-third driving device is configured to drive the corresponding suspension device to move along the third direction so as to drive the corresponding surgical operation arm group to move along the third direction; alternatively, the first and second electrodes may be,

the at least one suspension device includes a plurality of suspension devices, and the third driving device is connected to the plurality of suspension devices and configured to drive the plurality of suspension devices to move along the third direction to drive the corresponding surgical operation arm set to move along the third direction.

14. The surgical robotic device of any one of claims 5-8,

the third drive means is rotatable about a rotation axis in the third direction; and/or

The third drive arrangement comprises at least one joint at which the third drive arrangement is configured to be bendable; and/or the presence of a gas in the gas,

the third drive means is retractable in the third direction.

15. The surgical robotic device of any one of claims 5-8, further comprising:

a fixed connection securing the first drive device and the second drive device to the building element within the operating room.

16. A surgical robotic device according to any one of claims 4 to 8, wherein each said suspension means comprises a cylindrical fixed structure including a first end remote from the ground and a second end opposite the first end thereof, the first end of the cylindrical fixed structure being connected to the drive means;

the cylindrical fixation structure further includes a plurality of sides, each of the plurality of sides extending from a first end of the cylindrical fixation structure to a second end of the cylindrical fixation structure, the non-working end of the surgical arm of each of the surgical arm assemblies being secured to at least one of the plurality of sides.

17. The surgical robotic device of claim 16, wherein one of the surgical manipulator arms is secured to each of the plurality of sides;

the heights of the surgical operation arms fixed on the plurality of sides in the third direction are the same as or different from each other.

18. The surgical robotic device of any one of claims 4-8, wherein one said surgical manipulator arm set comprises a plurality of said surgical manipulator arms and an end effector structure, each said suspension device comprising a body;

the non-working ends of the plurality of operation arms far away from the ground are gathered and connected to the end main control structure, and one end of the main body of the suspension device close to the ground is connected with the end main control structure; and a control structure for controlling the operation of the plurality of operation arms is arranged in the end part master control structure.

19. The surgical robotic device of claim 18, wherein the ensemble of the plurality of surgical manipulator arms connected to the end master structure includes a first portion, a second portion, and a third portion arranged in a direction of extension of the ensemble;

in the first portion, the plurality of surgical arms are spaced apart from one another; a protective sleeve is arranged outside the second part, the protective sleeve wraps the plurality of surgical operation arms in the second part and enables the plurality of surgical operation arms in the second part to be gathered together, and the distance between the plurality of surgical operation arms in the second part is smaller than the distance between the plurality of surgical operation arms in the first part; the plurality of surgical arms extend out of the protective sheath from a port of the protective sheath distal from the first portion in the third portion, and the plurality of surgical arms are spaced apart from one another in the third portion.

20. The surgical robotic device of claim 4, comprising a hoisting structure, wherein the hoisting structure is fixed to a building body;

the driving device comprises a first hoisting rod group, a second hoisting rod group and a third hoisting rod group which are connected between the hoisting structure and the suspension device; each of the first lifting rod group, the second lifting rod group and the third lifting rod group comprises at least two lifting rods; each hoisting rod of the first hoisting rod group, each hoisting rod of the second hoisting rod group and each hoisting rod of the third hoisting rod group are respectively provided with a first end connected with the hoisting structure and a second end connected with the suspension device; and each lifting rod of the first lifting rod group, each lifting rod of the second lifting rod group and each lifting rod of the third lifting rod group can be stretched along the respective extension direction thereof so as to drive the suspension device to move in the first direction, the second direction and the third direction together.

21. The surgical robotic device of claim 4, wherein the driving means includes a suspension arm having an end connected to an end of the suspension means remote from the ground, the end of the suspension arm remote from the suspension means being secured to the building body;

the suspension arm is rotatable and/or retractable and/or bendable to drive the suspension means in the first, second and third directions.

22. The surgical robotic device of any one of claims 1-8 and 20-21, wherein the building member is a ceiling, a beam, a sidewall, or a floor of the operating room.

23. The surgical robotic device of claim 22, comprising: the fixed support is fixed on the ground and comprises a plurality of longitudinal supports vertical to the ground and a plurality of transverse supports which are connected with the longitudinal supports and far away from the ground, and the transverse direction is vertical to the longitudinal direction;

the suspension device is suspended on the transverse support, so that the suspension device is indirectly connected with the ground, and the operation arm is suspended in the operating room.

24. The surgical robotic device of any one of claims 1-8 and 20-21, wherein,

the surgical robot apparatus further includes: a power device configured to provide power to drive the suspension device to move in a plurality of directions; and a control module configured to control operation of the power plant; alternatively, the first and second electrodes may be,

the suspension is moved by manual operation.

25. The surgical robotic device of claim 24, wherein the surgical manipulator arm has a control button disposed thereon, the control button configured to control the control module to turn on and off;

the control module controls the power device to work to drive the suspension device to move in an opening state, and controls the power device to stop driving the suspension device to move in a closing state.

26. The surgical robotic device of any one of claims 1-8 and 20-21, further comprising:

an image processing device configured to acquire and display image information of a lesion during an operation, wherein the image processing device is connected with a building member in an operating room to be suspended in the operating room; and

a surgeon control platform wirelessly or wiredly connected with the surgical manipulator arm to control the operation of the surgical manipulator arm, wherein,

under the condition that a doctor control platform is in wired connection with the operation arm, the suspension device comprises a box body connected with the operation arm, and a signal wire connected with the doctor control platform is arranged in the box body of the suspension device and in the operation arm.