CN115530980A

CN115530980A - Surgical robot and multi-degree-of-freedom surgical system

Info

Publication number: CN115530980A
Application number: CN202110732646.9A
Authority: CN
Inventors: 杨坤; 叶廷; 谢强; 刘欢
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2022-12-30

Abstract

The invention relates to a surgical robot and a multi-degree-of-freedom surgical system. The multi-degree-of-freedom surgical system comprises: the trolley mechanism comprises a trolley positioning component and an orientation component; the adjusting mechanism is arranged at the tail end of the orientation component; the adjusting mechanism comprises two first adjusting components and two second adjusting components, the structures of the first adjusting components and the second adjusting components are different, the first adjusting components and the second adjusting components are rotatably connected to the orientation components, the two first adjusting components are positioned between the two second adjusting components, and the second adjusting components can rotate towards the direction far away from the first adjusting components; and four telecentric mechanisms for mounting surgical instruments. The second adjusting assembly can move outwards relative to the first adjusting assembly, the moving space of the second adjusting assembly is increased, the bionic characteristics can be fully utilized, the operating space and flexibility of the adjusting mechanism are effectively improved, and the flexibility and obstacle avoidance performance of the multi-degree-of-freedom surgical system are improved.

Description

Surgical robot and multi-degree-of-freedom surgical system

Technical Field

The invention relates to the technical field of medical operation equipment, in particular to an operation robot and a multi-degree-of-freedom operation system.

Background

Compared with the traditional open type operation, the minimally invasive operation has the advantages of small wound, less pain, quick recovery and the like, so that more patients are used as the preferred treatment scheme. However, minimally invasive surgery also has the problems of operation fatigue of doctors, shaking hands, inflexible hand instruments, uncoordinated hands and eyes, and the like.

In order to solve the technical problem of the existing minimally invasive surgery, a trend is gradually formed for completing the surgery by using a surgical robot system with multiple degrees of freedom to replace the hands of a doctor. At the same time, to prevent the surgical instrument from creating additional dangerous forces on the surgical incision point (the motionless point), the instrument tends to perform a rotational movement about the incision point. In a surgical robot system, a mechanical arm with multiple degrees of freedom supports a moving surgical instrument and positions the surgical instrument and adjusts the posture of the surgical instrument around a fixed point, and the configuration architecture design directly influences the usability and the safety of the surgical system.

Disclosure of Invention

Therefore, it is necessary to provide a surgical robot and a multi-degree-of-freedom surgical system capable of improving surgical flexibility and obstacle avoidance, in order to solve the problem that the configuration of the existing multi-degree-of-freedom mechanical arm affects the usability and safety of the surgical system.

A multiple degree of freedom surgical system, comprising:

the trolley mechanism comprises a trolley positioning component and an orientation component, and the orientation component is arranged on the trolley positioning component and moves along with the trolley positioning component;

the adjusting mechanism is arranged at the tail end of the orientation component; the adjusting mechanism comprises two first adjusting components and two second adjusting components, the structures of the first adjusting components and the second adjusting components are different, the first adjusting components and the second adjusting components are rotatably connected to the orientation components, and the second adjusting components can rotate towards the direction far away from the first adjusting components in the horizontal plane; and

and the four telecentric mechanisms are respectively arranged at the ends of the first adjusting component and the second adjusting component and are used for installing surgical instruments.

In one embodiment, the first adjusting assembly includes a first rotating component and a first moving component connected in series, the sum of the number of the first rotating component and the number of the first moving component is greater than or equal to four, the first rotating component and the first moving component are alternately connected, and two ends of the first adjusting assembly are respectively connected with the orientation assembly and the telecentric mechanism.

In one embodiment, the first rotating member and the first moving member connected in series are connected in series to the orienting member by one first rotating member.

In one embodiment, the first adjustment assembly includes two of the first rotational components and two of the first movement components, wherein one of the first rotational components is coupled to the orientation assembly and one of the first movement components is coupled to a telecentric mechanism.

In one embodiment, the first rotating part comprises a support rod body and a rotating joint arranged on the support rod body, and the first rotating part is rotatably connected with the rotating joint of another first rotating part or the first moving part through the support rod body;

the first moving part comprises a connecting rod body and a moving joint arranged on the connecting rod body, the first moving part is movably connected with the supporting rod body of the first rotating part through the moving joint, and the connecting rod body is connected with the rotating joint of the first rotating part or the telecentric mechanism.

In one embodiment, the second adjusting assembly comprises a second rotating component and a second moving component which are connected in series, the sum of the number of the second rotating component and the number of the second moving component is greater than or equal to four, and two ends of the second adjusting assembly are respectively connected with the orientation assembly and the telecentric mechanism.

In one embodiment, the second adjusting assembly comprises at least two second rotating members, wherein two second rotating members are connected in series, one end of each second rotating member is connected to the orientation assembly, and the other end of each second rotating member is connected to the remaining second rotating member and/or the second moving member in series.

In one embodiment, the second adjusting assembly comprises three second rotating components and one second moving component, and the rotating components, the moving components and the rotating components are sequentially connected in series; or,

the rotating component, the rotating component and the moving component are sequentially connected in series.

A multiple degree of freedom surgical system, comprising:

the adjusting mechanism is arranged on the orientation component; the adjusting mechanism comprises four first adjusting components which are respectively connected to the orientation components in a rotatable manner; and

the four telecentric mechanisms are respectively arranged at the end parts of the first adjusting components and are used for installing surgical instruments;

the first adjusting assembly comprises a first rotating component and a first moving component which are connected in series, the sum of the number of the first rotating component and the number of the first moving component is greater than or equal to four, the first rotating component and the first moving component are alternately connected, one end of the first adjusting assembly is connected with the orientation assembly through one first rotating component, and the other end of the first adjusting assembly is connected with the telecentric mechanism, and the first adjusting assembly is used for controlling the position of a surgical instrument at the tail end of the telecentric mechanism relative to the orientation assembly.

A surgical robot comprises a control console, an operating bed, a vision trolley and a multi-degree-of-freedom surgical system with any one of the technical characteristics;

the operating table bears a patient, the control console is connected with the vision trolley and the multi-degree-of-freedom operating system, the vision trolley obtains images between operating instruments and an operating area of the patient, and the control console controls the multi-degree-of-freedom operating system to perform operations on the patient according to image information of the vision trolley.

After the technical scheme is adopted, the invention at least has the following technical effects:

according to the surgical robot and the multi-degree-of-freedom surgical system, the trolley positioning component can drive the orientation component to rotate and move up and down so as to adjust the approximate position of the adjustment component in space, and the adjustment mechanism is aligned to the focus position of a patient. Subsequently, the first adjusting component and the second adjusting component of the adjusting mechanism can respectively move relative to the orientation component to drive the telecentric mechanism and the surgical instrument thereon to move, so that the surgical instrument performs surgery. In addition, the second adjusting assembly can move outwards relative to the first adjusting assembly, the moving space of the second adjusting assembly is increased, the bionic characteristics can be fully utilized, the operating space and flexibility of the adjusting mechanism are effectively improved, and the flexibility and safety of the multi-degree-of-freedom surgical system are improved.

Drawings

Fig. 1 is a schematic view of a multi-degree-of-freedom surgical system according to a first embodiment of the present invention applied to a surgical robot;

FIG. 2 is a perspective view of the multiple degree of freedom surgical system shown in FIG. 1;

FIG. 3 is an architectural diagram of one embodiment of the multiple degree of freedom surgical system shown in FIG. 1;

FIG. 4 is an architectural diagram of another embodiment of the multiple degree of freedom surgical system shown in FIG. 1;

FIG. 5 is a top view of an orientation component attachment adjustment mechanism of the multiple degree of freedom surgical system of FIG. 2;

FIG. 6 is a schematic view of a telecentric mechanism of the multiple degree of freedom surgical system shown in FIG. 2;

FIG. 7 is an architectural diagram of a multiple degree of freedom surgical system according to a second embodiment of the present invention.

Wherein: 100. a multiple degree of freedom surgical system; 110. a trolley mechanism; 111. a trolley positioning assembly; 1111. a trolley base; 1112. a trolley lifting component; 1113. a trolley rotating member; 1114. a carriage horizontal movement member; 112. an orientation assembly; 1121. orienting the rotating member; 1122. a directional rotary table; 120. an adjustment mechanism; 121. a first adjustment assembly; 1211. a first rotating member; 1212. a first moving member; 122. a second adjustment assembly; 1221. a second rotating member; 1222. a second moving member; 130. a telecentric mechanism; 131. a rotating member; 132. a rotating member; 133. rotating the connecting rod; 134. a first auxiliary link; 135. a second auxiliary link; 136. a third auxiliary link; 200. a surgical instrument; 300. a console; 400. a vision trolley; 500. an operating bed; 600. a patient.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and 2, the present invention provides a multiple degree of freedom surgical system 100. The multi-degree-of-freedom surgical system 100 is applied to a surgical robot, and is used for realizing the support and pose adjustment of a surgical instrument 200, and further realizing the operation on the focus position of a patient 600. It can be understood that in the surgical robot system, the mechanical arms with multiple degrees of freedom have the problem of incompatibility, so that the flexibility and obstacle avoidance performance between the surgical instruments at the tail ends are poor, the safety of the surgical robot system is influenced, and the surgical robot system is inconvenient to use. Therefore, the present invention provides a novel multi-degree-of-freedom surgical system 100, and the multi-degree-of-freedom surgical system 100 can ensure the flexibility and obstacle avoidance of the surgical instrument 200 during the surgical procedure. The specific structure of the multiple degree of freedom surgical system 100 is described in detail below.

Referring to fig. 1 and 2, in one embodiment, a multiple degree of freedom surgical system 100 includes a trolley mechanism 110, an adjustment mechanism 120, and four telecentric mechanisms 130. The trolley mechanism 110 includes a trolley positioning component 111 and an orientation component 112, and the orientation component 112 is disposed on the trolley positioning component 111 and moves with the trolley positioning component 111. An adjustment mechanism 120 is disposed at an end of the orientation assembly 112. The adjusting mechanism 120 includes two first adjusting assemblies 121 and two second adjusting assemblies 122, the first adjusting assemblies 121 and the second adjusting assemblies 122 have different structures and are rotatably connected to the orientation assembly 112, the two first adjusting assemblies 121 are located between the two second adjusting assemblies 122, and the second adjusting assemblies 122 can rotate in a direction away from the first adjusting assemblies 121 in a horizontal plane. Four telecentric mechanisms 130 are respectively disposed at the ends of the first adjustment assembly 121 and the second adjustment assembly 122, and the telecentric mechanisms 130 are used for mounting the surgical instrument 200.

The trolley mechanism 110 is a bearing structure of the multi-degree-of-freedom surgical system 100, and the multi-degree-of-freedom surgical system 100 is borne by the trolley mechanism 110, so that the multi-degree-of-freedom surgical system 100 is at a certain height, and the later-stage surgical operation is facilitated. One end of the adjusting mechanism 120 is mounted to the end of the carriage mechanism 110, and the other end of the adjusting mechanism 120 is mounted to the telecentric mechanism 130. Adjustment mechanism 120 is capable of adjusting the pose relative to trolley mechanism 110 to adjust the spatial position of telecentric mechanism 130 and, in turn, the pose of surgical instrument 200 on telecentric mechanism 130. In this way, the surgical instruments 200 on the four telecentric mechanisms 130 do not interfere with each other, so that the flexibility and obstacle avoidance performance of the surgical instruments 200 during use are ensured, and the safety of the multi-degree-of-freedom surgical system 100 during surgery is further ensured.

Specifically, the trolley mechanism 110 includes a trolley positioning component 111 and an orientation component 112, and the orientation component 112 is disposed on the trolley positioning component 111 and moves along with the trolley positioning component 111. The trolley positioning assembly 111 is load-bearing for carrying and positioning the orientation assembly 112 so that the orientation assembly 112 is in the proper spatial position. The trolley positioning component 111 can do lifting motion along the vertical direction, do rotation motion in the horizontal plane and do telescopic motion in the horizontal plane, and the orientation component 112 is located at the tail end of the trolley positioning component 111.

The orientation component 112 is rotatably mounted at the end of the trolley positioning component 111, and the trolley positioning component 111 can drive the orientation component 112 to move up and down, stretch out and draw back and rotate, so that the orientation component 112 is at a suitable position to rotatably connect with the adjustment mechanism 120, which is convenient for adjusting the position of the adjustment mechanism 120, and the adjustment mechanism 120 is at a planned fixed point. It is understood that the planned motionless point refers to the fixed position of the adjustment mechanism 120 during surgery so as not to interfere with the performance of the surgical procedure by the surgical instrument 200.

Optionally, the orientation assembly 112 is a suspension plate orientation assembly, and the suspension arrangement of the adjustment mechanism 120 is realized by the suspension plate orientation assembly, so that the adjustment mechanism 120 is suspended in space to facilitate driving the telecentric mechanism 130 and the surgical instrument 200 to perform a surgical operation. Of course, in other embodiments of the present invention, the orientation assembly 112 may be other structures that enable the suspension mounting of the adjustment mechanism 120.

The adjusting mechanism 120 includes two first adjusting components 121 and two second adjusting components 122. The two first adjustment assemblies 121 are different from the two second adjustment assemblies 122 in structure. One end of the first adjustment assembly 121 is pivotally connected to the end of the orientation assembly 112, and the other end of the first adjustment assembly 121 is mounted to the telecentric mechanism 130. One end of the second adjustment assembly 122 is pivotally connected to the orientation assembly 112 and the other end of the second adjustment assembly 122 mounts a telecentric mechanism 130. The two first adjustment assemblies 121 are located between the two second adjustment assemblies 122. That is, the two second adjusting members 122 are located at the outer side, and the two first adjusting members 121 are located at the inner side.

As shown in fig. 2, one end of each of the two first adjusting assemblies 121 and the two second adjusting assemblies 122 can be rotatably mounted to the orientation assembly 112, the two first adjusting assemblies 121 and the two second adjusting assemblies 122 extend away from the orientation assembly 112, and a certain distance exists between two adjacent assemblies to avoid interference between the distal telecentric mechanism 130. Telecentric mechanism 130 is used to implement the mounting of the surgical instrument 200 on the adjusting mechanism 120, and telecentric mechanism 130 is capable of moving the surgical instrument 200 to cause the surgical instrument 200 to perform corresponding operations.

Moreover, the first adjustment assembly 121 and the second adjustment assembly 122 have different structures. That is, the first adjustment assembly 121 and the second adjustment assembly 122 are different in structure. In this way, the movement range of the second adjusting component 122 can be changed, the movement space of the second adjusting component 122 is increased, the second adjusting component 122 can rotate towards the direction far away from the first adjusting component 121, that is, the second adjusting component 122 can move towards the outside, the second adjusting component 122 is far away from the first adjusting component 121, the space between the second adjusting component 122 and the first adjusting component 121 is increased, and further the movement space of the first adjusting component 121 and the second adjusting component 122 is increased, so as to increase the flexibility and the obstacle avoidance of the multi-degree-of-freedom surgical system 100, and ensure the usability of the multi-degree-of-freedom surgical system 100.

In the multi-degree-of-freedom surgical system 100 in the above embodiment, the trolley positioning component 111 can drive the orientation component 112 to rotate and move up and down to adjust the approximate position of the adjustment component in space, so that the adjustment mechanism 120 is aligned with the lesion position of the patient 600. Subsequently, the first adjustment assembly 121 and the second adjustment assembly 122 of the adjustment mechanism 120 can be moved relative to the orientation assembly 112 to move the telecentric mechanism 130 and the surgical instrument 200 thereon, so as to perform a surgical operation on the surgical instrument 200. In addition, the second adjusting assembly 122 can move outwards relative to the first adjusting assembly 121, so that the moving space of the second adjusting assembly 122 is increased, the bionic characteristics can be fully utilized, the operating space and flexibility of the adjusting mechanism 120 are effectively improved, and the flexibility and obstacle avoidance performance of the multi-degree-of-freedom surgical system 100 are improved.

Referring to fig. 2 to 4, in an embodiment, the first adjusting assembly 121 includes a first rotating component 1211 and a first moving component 1212 connected in series, a total number of the first rotating component 1211 and the first moving component 1212 is greater than or equal to four, the first rotating component 1211 and the first moving component 1212 are alternately connected, and two ends of the first adjusting assembly 121 after being connected in series are respectively connected to the orientation assembly 112 and the telecentric mechanism 130. The first adjustment assembly 121, after being serially connected, is used to control the pose of the surgical instrument 200 at the distal end of the telecentric mechanism 130 relative to the orientation assembly 112.

That is, the number of the first rotating member 1211 and the first moving member 1212 in the first adjusting assembly 121 is at least four. It is understood that the first rotation member 1211 can output a rotational motion and the first moving member 1212 can output a moving motion, and a specific structure thereof will be described in detail later. Alternatively, when the number of the first rotation members 1211 and the first moving members 1212 is four, the number of the first rotation members 1211 is two, and the number of the first moving members 1212 is two. Alternatively, when the number of the first rotation members 1211 and the first moving members 1212 is five, the number of the first rotation members 1211 is three, and the number of the first moving members 1212 is two. Alternatively, when the number of the first rotating members 1211 and the first moving members 1212 is six, the number of the first rotating members 1211 is three, and the number of the first moving members 1212 is three.

Also, at least four first rotating members 1211 are connected in series with the first moving member 1212, and the first rotating members 1211 and the first moving member 1212 are alternately arranged. That is, one first moving member 1212 exists between the two first rotating members 1211, and one first rotating member 1211 exists between the two first moving members 1212, thereby forming the first adjusting unit 121. Thus, one end of the first adjusting assembly 121 is rotatably connected to the orientation assembly 112, and the other end is provided with the telecentric adjusting mechanism 130. The first rotating member 1211 of the first adjustment assembly 121 can rotate, and the first moving member 1212 can move, so as to drive the telecentric mechanism 130 and the surgical instrument 200 to move correspondingly, so as to adjust the spatial pose of the surgical instrument 200, thereby meeting the surgical requirements.

Referring to fig. 2 to 4, in an embodiment, the first rotating member 1211 and the first moving member 1212 connected in series are connected to the orientation assembly 112 in series through one first rotating member 1211. And the remaining first rotation members 1211 are alternately connected with the first moving members 1212. That is, the first adjustment assembly 121 is rotatably coupled to the orientation assembly 112 via the first rotation member 1211.

Specifically, one end of one of the first rotating members 1211 is rotatably coupled to the orientation assembly 112, the other end of the first rotating member 1211 is coupled to one end of one of the first moving members 1212, the other end of one of the first moving members 1211 is coupled to one end of the other first rotating member 1211, and the other end of the other first rotating member 1211 is coupled to one end of the other first moving member 1212, wherein the first adjustment assembly 121 is formed by alternately connecting the first rotating member 1211 and the second rotating member 1211 to each other, wherein the first rotating member 1211 and the second rotating member 1211 are coupled to each other. That is, after one first rotation member 1211 is connected to the orientation unit 112, the remaining first rotation members 1211 and the first moving members 1212 are alternately connected in series to form the first adjustment unit 121 of a serial mechanical arm type, and the end of the first rotation member 1211 or the end of the first moving member 1212 is connected to the telecentric mechanism 130.

It should be noted that the number of the first rotating component 1211 and the first moving component 1212 in the first adjusting assembly 121 is at least four, and the present invention is only described by taking the number of the first rotating component 1211 and the first moving component 1212 as four as an example, and the structure and the principle of the number of the first rotating component 1211 and the first moving component 1212 that are more are substantially the same as the structure and the principle of the number of the first rotating component 1211 and the first moving component 1212 that are four, which is not repeated herein.

Referring to fig. 2 to 4, in an embodiment, the first adjustment assembly 121 includes two first rotation components 1211 and two first moving components 1212, wherein one first rotation component 1211 is connected in series with the orientation assembly 112, and one first moving component 1212 is connected to the telecentric mechanism 130. Specifically, one of the first rotating members 1211 is connected in series with the orientation assembly 112 and one of the first moving members 1212, one of the first moving members 1212 is connected in series with the other first rotating member 1211, the first rotating member 1211 is connected in series with the other first moving member 1212, and the first moving member 1212 is connected to the telecentric mechanism 130.

That is, the number of the first rotation member 1211 and the first moving member 1212 is two. One of the first rotation members 1211 is connected to the orientation assembly 112, the first rotation members 1211 are disposed alternately with the first moving members 1212, and the endmost first moving member 1212 is connected to the telecentric mechanism 130. That is, the first adjusting unit 121 is coupled in the order of rotation-horizontal movement-rotation-vertical movement. Specifically, one end of one of the first rotating members 1211 is rotatably connected to the orientation assembly 112, the other end of the first rotating member 1211 is serially connected to one end of one of the first moving members 1212, the other end of the first moving member 1212 is serially connected to one end of the other first rotating member 1211, the other end of the first rotating member 1211 is serially connected to one end of the other first moving member 1212, and the other end of the first moving member 1212 is connected to the telecentric mechanism 130. Also, the first moving member 1212 connecting the two first rotating members 1211 can move in the horizontal plane, that is, the first moving member 1212 can output a horizontal moving motion. The first moving member 1212 at the end is movable in the vertical direction, i.e., the second first moving member 1212 is capable of outputting a vertical moving motion.

In one embodiment, the first rotation element 1211 includes a support rod and a rotation joint disposed on the support rod, and the first rotation element 1211 is rotatably connected to the rotation joint or the first moving element 1212 of the other first rotation element 1211 through the support rod. The support rod body plays a supporting role and is used for supporting the rotary joint on the support rod body. Alternatively, the revolute joint is a spindle, a hinge, or other component capable of effecting rotation. Alternatively, the rotational joint is a rotational angle in a direction around an axis, such as a horizontal axis, a vertical axis, and the like. Of course, in other embodiments of the present invention, the revolute joint may also be rotated 360 °.

One end of the supporting rod body is connected with the rotating joint, and the other end of the supporting rod body is a free end. In the first rotation member 1211 connected to the orientation unit 112 in the above embodiment, the rotation joint of the first rotation member 1211 is connected to the orientation unit 112 so that the first adjustment unit 121 is rotatable with respect to the orientation unit 112, and the first rotation member 1211 connected to the orientation unit 112 is rotatably connected to the rotation joint of the next first rotation member 1211 through the support rod body. The last first rotation member 1211 is connected to the first moving member 1212 through the support rod body. Of course, in other embodiments of the present invention, the end of the support rod in the first rotation member 1211 is connected to the rotational joint in the adjacent first rotation member 1211.

In an embodiment, the first moving member 1212 includes a connection rod and a moving joint disposed on the connection rod, the first moving member 1212 is movably connected to the support rod of the first rotation component 1211 through the moving joint, and the connection rod is connected to the rotation joint of the first rotation component 1211 or the telecentric mechanism 130. The connecting rod body plays a bearing role, and the end part of the connecting rod body is provided with a movable joint. The connecting rod body can output moving motion after being matched with the moving joint. Alternatively, the moving joint has an installation space in which a connection rod body is installed, the connection rod body being extendable or retractable with respect to the moving joint to output the moving motion. That is, the first moving member 1212 is configured to output linear motion, similarly to an electric cylinder or the like. Of course, in other embodiments of the invention, the first moving member 1212 may also be other structures capable of performing the moving motion. The power source for rotating the first rotation member 1211 is a motor.

When the first moving member 1212 is disposed between the two first rotary joints, one end of the moving joint in the first moving member 1212 is connected to the support rod member of the first rotary member 1211, the other end of the moving joint is telescopically mounted to the connection rod member, and the other end of the connection rod member is mounted to the rotary joint of the first rotary member 1211. When the first moving member 1212 is disposed at the end of the first adjusting assembly 121, one end of the moving joint in the first moving member 1212 is connected to the support rod of the first rotating member, the other end of the moving joint is telescopically mounted to a connection rod, and the other end of the connection rod is mounted to the telecentric mechanism 130. Also, a power source for the rotation of the first moving member 12121211 is a motor.

Referring to fig. 2-4, in an embodiment, the second adjustment assembly 122 includes at least four second rotation components 1221 and second moving components 1222 connected in series, and the two ends of the second adjustment assembly 122 connected in series are respectively connected to the orientation assembly 112 and the telecentric mechanism 130, for controlling the pose of the surgical instrument 200 at the end of the telecentric mechanism 130 relative to the orientation assembly 112.

That is, the number of the second rotating member 1221 and the second moving member 1222 in the second adjusting assembly 122 is at least four. It is understood that the second rotating member 1221 can output a rotational motion, and the second moving member 1222 can output a moving motion, and the specific structure thereof will be described in detail later. Alternatively, when the number of the second rotating members 1221 and the second moving members 1222 is four, the number of the second rotating members 1221 is two, and the number of the second moving members 1222 is two. Alternatively, when the number of the second rotating members 1221 and the second moving members 1222 is four, the number of the second rotating members 1221 is three, and the number of the second moving members 1222 is one. Alternatively, when the number of the second rotating members 1221 and the second moving members 1222 is five, the number of the second rotating members 1221 is three, and the number of the second moving members 1222 is two. Alternatively, when the number of the second rotating members 1221 and the second moving members 1222 is six, the number of the second rotating members 1221 is three, and the number of the second moving members 1222 is three. And so on.

Also, at least four second rotating members 1221 are connected in series with the second moving member 1222, that is, the ends of the second rotating members 1221 are connected to the ends of another second rotating member 1221 or the second moving member 1222, thereby forming the second adjusting unit 122. Thus, the second adjustment assembly 122 is pivotally connected at one end to the orientation assembly 112 and at the other end to the telecentric adjustment mechanism 130. The second rotating component 1221 in the second adjusting assembly 122 can perform a rotating motion, and the second moving component 1222 can perform a moving motion, so as to drive the telecentric mechanism 130 and the surgical instrument 200 to perform a corresponding motion, so as to adjust the spatial pose of the surgical instrument 200, and meet the surgical requirements.

Referring to fig. 2 to 4, in an embodiment, the second adjusting assembly 122 includes a second rotating component 1221, a sum of the number of the second rotating component 1221 and the number of the second moving component 1222 is greater than or equal to four, and two ends of the second adjusting assembly 122 are connected to the orientation assembly 112 and the circle center mechanism. Specifically, two of the second rotating members 1221 are connected in series, one end of which is connected to the orientation assembly 112, and the other end of which is connected in series to the remaining second rotating members 1221 and/or the second moving member 1222. That is, when the number of the second rotating members 1221 and the second moving members 1222 is at least four, the number of the second rotating members 1221 may be at least two.

And, the first two components of the second adjustment assembly 122 connected to the orientation assembly 112 are both the second rotation component 1221. In this way, the second adjusting assembly 122 can rotate relative to the orientation assembly 112 through the first second rotating component 1221 connected to the orientation assembly 112, and the telecentric mechanism 130 moves outwards through the second rotating component 1221, so as to increase the moving space between the first adjusting assembly 121 and the second adjusting assembly 122 and avoid interference between the adjacent first adjusting assembly 121 and the second adjusting assembly 122.

Alternatively, in addition to the first two second rotating components 1221, all of the remaining components of the second adjusting assembly 122 may be the second moving component 1222, or may be a combination of the second moving component 1222 and the second rotating component 1221, or of course, may be the second rotating components 1221.

It should be noted that, the number of the second rotating components 1221 and the second moving components 1222 in the second adjusting assembly 122 is at least four, only the number of the first rotating components 1211 and the second rotating components 1221 is four in the present invention, and the structure and principle that the number of the second rotating components 1221 and the second moving components 1222 is more than that of the structure and principle that the number of the first rotating components 1211 and the second rotating components 1221 is four are substantially the same, which is not repeated herein.

In one embodiment, the second adjusting assembly 122 includes three second rotating members 1221 and one second moving member 1222, and is connected in series in the order of the rotating members, the moving members, and the rotating members; alternatively, the rotating member, and the moving member are connected in series in this order. The method comprises the following specific steps:

referring to fig. 2-4, in one embodiment, the second adjustment assembly 122 includes three second rotating members 1221 and one second moving member 1222, wherein the two second rotating members 1221 are connected in series and to the orientation assembly 112. One end of the two second rotating components 1221 far away from the orientation component 112 is connected in series with another second rotating component 1221, and then connected in series with the second moving component 1222, and the second moving component 1222 is connected with the telecentric mechanism 130; alternatively, one end of the two second rotating members 1221 far from the orientation assembly 112 is connected in series with the second moving member 1222, and then connected in series with the other second rotating member 1221, and the other second rotating member 1221 is connected to the telecentric mechanism 130.

That is, the number of the second rotating members 1221 is three, and the number of the second moving members 1222 is one. Two of the second rotating members 1221 are connected in series, and one end of each of the two second rotating members 1221 connected in series is connected to the orientation assembly 112, and the other end of each of the two second rotating members 1221 is connected to the third second rotating member 1221 and the second moving member 1222.

Referring to fig. 3, alternatively, two second rotating members 1221 are connected in series, and then the second rotating members 1221 are connected in series and then the second moving member 1222 is connected in series. I.e., the second adjustment assembly 122 is coupled in the order of rotation-vertical movement. Specifically, one end of one of the second rotating members 1221 is rotatably connected to the orientation assembly 112, the other end of the second rotating member 1221 is connected to the other end of the other second rotating member 1221 in series, the other end of the second rotating member 1221 is connected to one end of the third second rotating member 1221, the other end of the second rotating member 1221 is connected to one end of the second moving member 1222, and the other end of the second moving member 1222 is connected to the telecentric mechanism 130. The end second moving member 1222 is movable in a vertical direction, i.e. the second moving member 1222 is capable of outputting a vertical moving motion.

Referring to fig. 4, alternatively, two second rotating members 1221 are connected in series, and the second moving member 1222 is connected in series and then the second rotating members 1221 are connected in series. That is, the second adjusting assembly 122 is coupled in the order of rotation-vertical movement-rotation. Specifically, one end of one of the second rotating members 1221 is rotatably connected to the orientation assembly 112, the other end of the second rotating member 1221 is connected to the other end of the other second rotating member 1221 in series, the other end of the second rotating member 1221 is connected to one end of the second moving member 1222, the other end of the second moving member 1222 is connected to one end of the third second rotating member 1221, and the other end of the second rotating member 1221 is connected to the telecentric mechanism 130. The second moving member 1222 connecting the two second rotating members 1221 is movable in the vertical direction, i.e., the second moving member 1222 is capable of outputting a vertical moving motion.

In an embodiment, the second rotating part 1221 includes a supporting rod and a rotating joint disposed on the supporting rod, and the second rotating part 1221 is rotatably connected to another supporting rod of the second rotating part 1221 through the rotating joint. The support rod body plays a supporting role and is used for supporting the rotary joint on the support rod body. Alternatively, the revolute joint is a spindle, a hinge, or other component capable of effecting rotation. Alternatively, the revolute joint is a revolute angle about an axial direction, such as a horizontal axis, a vertical axis, and the like. Of course, in other embodiments of the present invention, the revolute joint may also rotate 360 °.

One end of the supporting rod body is connected with the rotating joint, and the other end of the supporting rod body is a free end. In the second rotation member 1221 connected to the orientation assembly 112 in the above-mentioned embodiment, the rotation joint of the second rotation member 1221 is connected to the orientation assembly 112 so that the second adjustment assembly 122 can rotate relative to the orientation assembly 112, and the end of the support rod in the second rotation member 1221 is connected to the rotation joint of another second rotation member 1221. Of course, in other embodiments of the present invention, the end of the support rod in the second rotating member 1221 is connected to the moving joint in the adjacent second moving member 1222. The power source for rotating the second rotating member 1221 is a motor.

In an embodiment, the second moving member 1222 includes a connection rod and a moving joint disposed on the connection rod, and the second moving member 1222 is movably connected to the support rod of the second rotating component 1221 through the moving joint, and the connection rod is connected to the second rotating component 1221 or the telecentric mechanism 130. The connecting rod body plays a bearing role, and the end part of the connecting rod body is provided with a movable joint. The connecting rod body can output moving motion after being matched with the moving joint. Alternatively, the mobile joint has an installation space in which a connection rod body is installed, the connection rod body being extendable or retractable with respect to the mobile joint to output the movement motion. That is, the second moving member 1222 is configured to be capable of outputting linear motion, similar to an electric cylinder or the like. Of course, the second moving member 1222 may also be other structures capable of moving in other embodiments of the present invention. The power source for rotating the second moving member 1222 is a motor.

When the second moving member 1222 is disposed between the two second rotating joints, one end of the moving joint in the second moving member 1222 is connected to the support rod of the second rotating member 1221, the other end of the moving joint is telescopically mounted to a connection rod, and the other end of the connection rod is mounted to the rotating joint of the second rotating member 1221. When the second moving member 1222 is disposed at the end of the second adjusting unit 122, one end of the moving joint of the second moving member 1222 is connected to the supporting rod of the second rotating member 1221, the other end of the moving joint is telescopically mounted to a connecting rod, and the other end of the connecting rod is mounted to the telecentric mechanism 130.

Referring to fig. 2 to 4, in an embodiment, the trolley positioning assembly 111 includes a trolley base 1111, a trolley lifting member 1112, a trolley rotating member 1113, and a trolley horizontal moving member 1114, wherein the trolley lifting member 1112 is arranged on the trolley base 1111 in a lifting manner, the trolley rotating member 1113 is rotatably arranged on the trolley lifting member 1112, the trolley horizontal moving member 1114 is arranged on the trolley rotating member 1113 in a moving manner, and an end of the trolley horizontal moving member 1114 is provided with the orientation assembly 112.

The trolley mount 1111 is configured to support the components of the trolley positioning assembly 111 and to support the components of the multiple degree of freedom surgical system 100. The trolley base 1111 can play a role of stable support to stably support the multi-degree-of-freedom surgical system 100. It is understood that the specific structure of the trolley base 1111 is not limited in principle, as long as reliable support is achieved. The trolley lifting component 1112 is arranged on the trolley base 1111 in a lifting mode in a vertical mode, the trolley rotating component 1113 is installed at the top end of the trolley lifting component 1112, the trolley rotating component 1113 is far away from the end part of the trolley lifting component 1112, the trolley horizontal moving component 1114 is installed at the end part of the trolley lifting component 1112, and the orientation assembly 112 is installed at one end, far away from the trolley rotating component 1113, of the trolley horizontal moving component 1114.

The trolley lifting component 1112 can drive the trolley rotating component 1113, the trolley horizontal moving component 1114 and the orientation assembly 112 to synchronously lift and lower along the vertical direction, so as to adjust the height of the orientation assembly 112, and further adjust the height of the adjustment mechanism 120, so as to meet the use requirements of the surgical instrument 200 at different heights. The rotating component 1113 can drive the horizontal moving component 1114 of the trolley and the orientation component 112 to rotate on the horizontal plane, and adjust the angle of the orientation component 112, so that the adjusting mechanism 120 can drive the telecentric mechanism 130 and the surgical instrument 200 to be located in the direction of the lesion position. The horizontal moving member 1114 can drive the orientation component 112 to extend and retract in the horizontal direction, so that the orientation component 112 drives the adjusting mechanism 120, the telecentric mechanism 130 and the surgical instrument 200 to move towards the lesion position.

The orientation component 112 is driven by the trolley lifting component 1112, the trolley rotating component 1113 and the trolley horizontal moving component 1114 to lift along the vertical direction, rotate in the horizontal plane and stretch in the horizontal direction, so that the position of the orientation component 112 is adjusted, the purpose of adjusting the position of the component is achieved, the telecentric mechanism 130 and the surgical instrument 200 on the adjusting mechanism 120 can be aligned to the focus position of the patient 600, and the safety of later-stage operations is ensured.

Alternatively, the structure of the rotating member 1113 is the same as that of the first rotating member 1211, and a detailed description thereof is omitted. Of course, in other embodiments of the present invention, the carriage rotating member 1113 may be another member that can rotate in the horizontal direction. Optionally, the structure of the trolley lifting component 1112 and the trolley horizontal moving component 1114 are the same as the structure of the first moving component 1212, which are not repeated herein. Of course, in other embodiments of the present invention, the carriage lifting member 1112 and the carriage horizontal moving member 1114 may be telescopic rods or other members capable of being extended and retracted.

Referring to fig. 2 to 5, in an embodiment, the orientation assembly 112 includes an orientation rotation component 1121 and an orientation rotary disk 1122, the orientation rotation component 1121 is rotatably disposed on the trolley horizontal moving component 1114, and the orientation rotary disk 1122 is respectively connected to the two first adjusting assemblies 121 and the two second adjusting assemblies 122. The orientation dial 1122 is mounted on an end of the carriage horizontal movement member 1114 remote from the carriage rotation member 1113 and the orientation dial 1122 is rotatably mounted on the carriage horizontal movement member 1114 through the orientation rotation member 1121 such that the orientation dial 1122 can be rotated in a horizontal plane with respect to the carriage horizontal movement member 1114 to further adjust the spatial angle at which the adjustment mechanism 120 is located.

Moreover, the orientation dial 1122 is used for carrying and connecting the first adjustment assembly 121 and the second adjustment assembly 122, one section of each of the first adjustment assembly 121 and the second adjustment assembly 122 extends into the orientation dial 1122, and the other end is connected to the telecentric mechanism 130. Alternatively, the orientation rotation component 1121 is a shaft, a hinge, or other component capable of realizing a rotatable connection.

Optionally, the orientation dial 1122 includes a supporting base and a mounting portion disposed on the supporting base, the mounting portion is used for connecting the first adjusting element 121 and the second adjusting element 122. Optionally, the number of the mounting portions is four, the four mounting portions are disposed on the periphery of the supporting seat, and the four mounting portions are spaced apart from each other, so as to avoid interference between the adjacent first adjusting assembly 121 and the adjacent second adjusting assembly 122. Optionally, the mounting portion is a protrusion. Of course, in other embodiments of the present invention, the mounting portion may also be a groove.

Referring to fig. 2-6, in one embodiment, telecentric mechanism 130 comprises a rotary member 131, a rotary member 132, a rotary link 133, a first auxiliary link 134, a second auxiliary link 135 and a third auxiliary link 136, the rotary member 131 is rotatably disposed at an end of the first adjustment assembly 121 or the second adjustment assembly 122 and is connected to the rotary member 132, the rotary link 133 is rotatably connected to the rotary member 132, the first auxiliary link 134 is rotatably connected to the rotary link 133, the second auxiliary link 135 is rotatably connected to the first auxiliary link 134 and is parallel to an axis of the rotary member 131, the third auxiliary link 136 is rotatably connected to the second auxiliary link 135, and the third auxiliary link 136 is used for mounting the surgical instrument 200.

Referring to fig. 1 and 7, the second embodiment of the present invention further provides a multiple degree of freedom surgical system 100 including a trolley mechanism 110, an adjustment mechanism 120, and four telecentric mechanisms 130. The trolley mechanism 110 includes a trolley positioning component 111 and an orientation component 112, and the orientation component 112 is disposed on the trolley positioning component 111 and moves with the trolley positioning component 111. The adjustment mechanism 120 is disposed on the orientation assembly 112; the adjustment mechanism 120 includes four first adjustment assemblies 121, and the four first adjustment assemblies 121 are rotatably connected to the orientation assembly 112, respectively. Four telecentric mechanisms 130 are respectively disposed at the ends of the first adjustment assembly 121, and the telecentric mechanisms 130 are used to mount the surgical instrument 200. The first adjustment assembly 121 comprises a first rotation component 1211 and a first moving component 1212 which are connected in series, the sum of the number of the first rotation component 1211 and the number of the first moving component 1212 is greater than or equal to four, the first rotation component 1211 and the first moving component 1212 are alternately connected, and one end of the first adjustment assembly 121 after being connected in series is connected with the orientation assembly 112 through one first rotation component 1211, and the other end of the first adjustment assembly is connected with the telecentric mechanism 130, so as to control the pose of the surgical instrument 200 at the tail end of the telecentric mechanism 130 relative to the orientation assembly 112.

It should be noted that the structure and the working principle of the multi-degree-of-freedom surgical system 100 in the present embodiment are substantially the same as those of the multi-degree-of-freedom surgical system 100 in the first embodiment, and a detailed description thereof is omitted here, where the area of the two adjustment mechanisms 120 in the first embodiment includes two first adjustment assemblies 121 and two second adjustment assemblies 122 with different structures, and in the present embodiment, the adjustment mechanism 120 includes four first adjustment assemblies 121 with the same structure. Only the structure of the adjustment mechanism 120 in the multiple degree of freedom surgical system 100 is described herein.

The adjusting mechanism 120 of the multiple degrees of freedom surgical system 100 of the embodiment adopts four first adjusting assemblies 121 to connect the orientation assembly 112 and the telecentric mechanism 130. One end of the four first adjustment assemblies 121 are pivotally connected to the orientation assembly 112 and the other end of the four first adjustment assemblies are mounted to the telecentric mechanism 130. Moreover, the four first adjusting assemblies 121 are arranged at intervals, and a certain distance exists between two adjacent first adjusting assemblies 121, so that interference between the distal telecentric mechanisms 130 is avoided.

Moreover, the number of the first rotating member 1211 and the first moving member 1212 in the first adjustment assembly 121 is at least four. It is understood that the first rotation member 1211 can output a rotational motion and the first moving member 1212 can output a moving motion, and a specific structure thereof will be described in detail later. Alternatively, when the number of the first rotation members 1211 and the first moving members 1212 is four, the number of the first rotation members 1211 is two, and the number of the first moving members 1212 is two. Alternatively, when the number of the first rotation members 1211 and the first moving members 1212 is five, the number of the first rotation members 1211 is three, and the number of the first moving members 1212 is two. Alternatively, when the number of the first rotating members 1211 and the first moving members 1212 is six, the number of the first rotating members 1211 is three, and the number of the first moving members 1212 is three.

Also, at least four first rotating members 1211 are connected in series with the first moving member 1212, and the first rotating members 1211 and the first moving member 1212 are alternately arranged. That is, one first moving member 1212 exists between the two first rotating members 1211, and one first rotating member 1211 exists between the two first moving members 1212, thereby forming the first adjusting unit 121. Thus, one end of the first adjusting assembly 121 is rotatably connected to the orientation assembly 112, and the other end is provided with the telecentric adjusting mechanism 130. The first rotating component 1211 of the first adjusting assembly 121 can perform a rotating motion, and the first moving component 1212 can perform a moving motion, so as to drive the telecentric mechanism 130 and the surgical instrument 200 to perform a corresponding motion, so as to adjust the spatial pose of the surgical instrument 200, thereby meeting the surgical requirements.

In an embodiment, at least four first rotating members 1211 and first moving members 1212 connected in series are connected in series to the orientation assembly 112 through one first rotating member 1211, and the remaining first rotating members 1211 and first moving members 1212 are alternately connected. That is, the first adjustment assembly 121 is rotatably coupled to the orientation assembly 112 via the first rotation member 1211.

Specifically, one end of one of the first rotating members 1211 is rotatably coupled to the orientation assembly 112, the other end of the first rotating member 1211 is coupled to one end of one of the first moving members 1212, the other end of one of the first moving members 1211 is coupled to one end of the other first rotating member 1211, and the other end of the other first rotating member 1211 is coupled to one end of the other first moving member 1212, wherein the first adjustment assembly 121 is formed by alternately connecting the first rotating member 1211 and the second rotating member 1211 to each other, wherein the first rotating member 1211 and the second rotating member 1211 are coupled to each other. That is, after one first rotating component 1211 is connected to the orientation assembly 112, the remaining first rotating components 1211 and the first moving components 1212 are alternately connected in series to form a series mechanical arm type first adjusting assembly 121, and the end of the first rotating component 1211 or the end of the first moving component 1212 is connected to the telecentric mechanism 130.

In an embodiment, the first adjusting assembly 121 includes two first rotating components 1211 and two first moving components 1212, wherein one of the first rotating components 1211 is connected in series with the orientation assembly 112 and one of the first moving components 1212, wherein one of the first moving components 1212 is connected in series with the other first rotating component 1211 and then connected in series with the other first moving component 1212, and the other first moving component 1212 is connected to the telecentric mechanism 130.

That is, the number of the first rotating member 1211 and the first moving member 1212 is two. One of the rotating members is connected to the orientation module 112, the first rotating members 1211 are disposed alternately with the first moving members 1212, and the endmost first moving member 1212 is connected to the telecentric mechanism 130. That is, the first adjusting member 121 is coupled in the order of rotation-movement-rotation-movement. Specifically, one end of one of the first rotation members 1211 is rotatably connected to the orientation assembly 112, the other end of the first rotation member 1211 is serially connected to one end of one of the first moving members 1212, the other end of the first moving member 1212 is serially connected to one end of the other first rotation member 1211, the other end of the first rotation member 1211 is serially connected to one end of the other first moving member 1212, and the other end of the first moving member 1212 is connected to the telecentric mechanism 130.

It should be noted that the structures of the first rotating member 1211 and the first moving member 1212 in this embodiment are substantially the same as the structures of the first rotating member 1211 and the first moving member 1212 in the first embodiment, which are not repeated herein.

The present invention further provides a surgical robot, which includes a console 300, an operating bed 500, a vision trolley 400, and the multi-degree-of-freedom surgical system 100 in any of the above embodiments. The surgical bed 500 carries a patient 600, the console 300 is connected with the vision trolley 400 and the multi-degree-of-freedom surgical system 100, the vision trolley 400 obtains images between the surgical instrument 200 and the surgical area of the patient 600, and the console 300 controls the multi-degree-of-freedom surgical system 100 to perform surgery on the patient 600 according to the image information of the vision trolley 400. After the surgical robot of the invention adopts the multi-degree-of-freedom surgical system 100 of the embodiment, the safety of the surgical robot in use can be ensured, the flexibility and the obstacle avoidance performance of the surgical robot in operation can be improved, the use performance of the surgical robot can be ensured, and the use by medical staff is convenient.

The surgical robot of the present invention is used to perform a minimally invasive surgery on a patient 600 on a surgical bed 500 using the multi-degree-of-freedom surgical system 100, such as an endoscope system or the like, to transmit image information in the body of the patient 600. The doctor controls the movement of the telecentric mechanism 130 and the surgical instrument 200 of the multi-degree-of-freedom surgical system 100 through the operation console 300, so as to realize the operation in the body of the patient 600. Meanwhile, the configuration of the first adjusting assembly 121 and the second adjusting assembly 122 in the adjusting mechanism 120 in the above embodiment adjusts the layout and the pose of the surgical instrument 200, so as to ensure the flexibility and the obstacle avoidance performance of the surgical instrument 200 during the operation, and further ensure the safety during the operation.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A multiple degree of freedom surgical system, comprising:

2. The multiple degree of freedom surgical system of claim 1, wherein the first adjustment assembly includes a first rotating component and a first moving component connected in series, the sum of the number of the first rotating component and the number of the first moving component is greater than or equal to four, the first rotating component and the first moving component are alternately connected, and two ends of the first adjustment assembly are respectively connected with the orientation assembly and the telecentric mechanism.

3. The multiple degree of freedom surgical system of claim 2, wherein the first rotational component and the first moving component of the series connection are serially connected to the orientation assembly by one of the first rotational components.

4. The multiple degree of freedom surgical system of claim 2, wherein the first adjustment assembly includes two of the first rotational components and two of the first moving components, one of the first rotational components coupled to the orientation assembly and one of the first moving components coupled to a telecentric mechanism.

5. The multiple degree of freedom surgical system of any one of claims 2 through 4, wherein the first rotation component comprises a support rod body and a rotation joint arranged on the support rod body, and the first rotation component is rotatably connected with the rotation joint of another first rotation component or the first moving component through the support rod body;

6. The multiple degree of freedom surgical system of claim 1, wherein the second adjustment assembly includes a second rotation component and a second moving component connected in series, the sum of the number of the second rotation component and the number of the second moving component is greater than or equal to four, and two ends of the second adjustment assembly are respectively connected with the orientation assembly and the telecentric mechanism.

7. The multiple degree of freedom surgical system of claim 6, wherein the second adjustment assembly includes at least two of the second rotational components, wherein two of the second rotational components are connected in series with one end connected to the orientation assembly and the other end connected in series with the remaining second rotational component and/or the second moving component.

8. The multiple degree of freedom surgical system of claim 6, wherein the second adjustment assembly includes three of the second rotational components and one of the second moving components, and is serially connected in order of rotational component, moving component, rotational component; or,

9. A multiple degree of freedom surgical system, comprising:

10. A surgical robot comprising a console, an operating bed, a vision trolley, and a multiple degree of freedom surgical system of any one of claims 1 to 9;