CN115957007A - Surgical robot system - Google Patents

Abstract

The surgical robot system comprises a supporting assembly, an operating table and a plurality of groups of manipulator assemblies, wherein the operating table is arranged on the supporting assembly, the plurality of groups of manipulator assemblies are arranged on the supporting assembly at intervals along a first direction, each group of manipulator assemblies comprises a main manipulator and an auxiliary manipulator, the auxiliary manipulator can move along the first direction relative to the supporting assembly, the main manipulator can move along a second direction relative to the supporting assembly, and the first direction is different from the second direction. So, can reduce surgical robot system's occupation space for surgical robot system's simple structure, and the direction of motion of the main machinery hand of every group manipulator subassembly and auxiliary manipulator is different, can ensure that the manipulator subassembly can carry end effector and move almost all positions of setting for the space within range, thereby make the manipulator subassembly can support the operation type of multiple difference, improved surgical robot system's flexibility ratio.

Description

Surgical robot system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical robot system.

Background

The surgical robot system can enable a surgeon to carry out an operation by keeping away from an operating table, so that the surgical robot system has extremely wide application in the field of minimally invasive surgery. However, the conventional surgical robot system generally has the defects of complex structure and low flexibility, so that the surgical robot system cannot meet the increasing surgical requirements.

Disclosure of Invention

The invention solves the technical problem of how to improve the flexibility of a surgical robot system on the basis of simple structure; the invention solves the technical problems through the following technical scheme.

The present invention provides a surgical robot system including:

a support assembly;

an operating table disposed on the support assembly; and

the manipulator subassembly, the multiunit the manipulator subassembly along first direction interval set up in the supporting component, every group the manipulator subassembly includes main manipulator and auxiliary machinery hand, auxiliary machinery hand can be relative the supporting component is followed first direction motion, main manipulator can be relative the supporting component moves along the second direction, first direction with the second direction is distinguished mutually.

In one embodiment, each set of manipulator assemblies comprises a plurality of said primary manipulators and at least one said secondary manipulator, each said secondary manipulator being located between two of said primary manipulators of the plurality.

In one embodiment, the surgical table includes opposite leading and trailing ends, the leading to trailing direction being coincident with the first direction.

In one embodiment, the primary manipulator includes a primary reference segment coupled to the support assembly and movable relative to the support assembly in the second direction, a primary docking segment movably coupled between the primary reference segment and the primary surgical segment, and a primary surgical segment detachably connectable with an end effector.

In one embodiment, the primary surgical segment includes a first surgical joint and a second surgical joint, the first surgical joint is connected to the primary docking segment and can rotate relative to the primary docking segment, the second surgical joint is connected to the first surgical joint and can rotate relative to the first surgical joint, the rotation axis of the first surgical joint is perpendicular to the rotation axis of the second surgical joint, the first surgical joint and the second surgical joint form a mechanical remote center point, the mechanical remote center point is located on the end effector, and the primary manipulator can drive the end effector to move relative to the mechanical remote center point.

In one embodiment, the primary surgical segment further includes a third surgical joint slidably coupled to the second surgical joint and removably coupled to the end effector.

In one embodiment, the main docking section comprises a plurality of pitch joints and a plurality of rotation joints, the main docking section is connected with the main reference section through the rotation joints, each rotation joint is connected between two pitch joints, each pitch joint is connected between two rotation joints, the rotation axis of each rotation joint is perpendicular to the rotation axis of the adjacent pitch joint, and one pitch joint is detachably connected with the adjacent rotation joint.

In one embodiment, the rotary joint detachably connected to the adjacent pitched joint is detachably connectable to an orthopedic surgical effector.

In one embodiment, the robot assembly further comprises a plurality of torque sensors disposed at the main reference section and/or the main docking section.

In one embodiment, the auxiliary manipulator comprises an auxiliary reference section, an auxiliary docking section and an auxiliary operation section, wherein the auxiliary reference section is connected to the support assembly and can move along a third direction relative to the support assembly, the first direction, the second direction and the third direction are different, the auxiliary docking section is movably connected between the auxiliary reference section and the auxiliary operation section, and the auxiliary operation section can be detachably connected with an end effector.

In one embodiment, the supporting component comprises a base and a stand column, the operating table and the base are arranged at intervals along the second direction, the stand column is connected between the base and the operating table, the operating table is movably connected with the stand column, and the two groups of manipulator components are respectively arranged on two opposite sides of the stand column.

In one embodiment, the surgical table has a first rotational axis extending in the first direction and a second rotational axis extending in a direction perpendicular to the first and second directions.

In one embodiment, the operating table comprises a bed plate and leg plates, the leg plates are connected with the end portions of the bed plate, and the plane where the bed plate is located and the plane where the leg plates are located are arranged in an obtuse angle mode.

Compared with the prior art, the surgical robot system provided by the invention comprises a supporting component, an operating table and a plurality of groups of manipulator components, wherein the operating table is arranged on the supporting component, the plurality of groups of manipulator components are arranged on the supporting component at intervals along a first direction, each group of manipulator components comprises a main manipulator and an auxiliary manipulator, the auxiliary manipulator can move along the first direction relative to the supporting component, and the main manipulator can move along a second direction different from the first direction relative to the supporting component. So, can reduce surgical robot system's occupation space for surgical robot system's simple structure, and the direction of motion of the main machine manipulator of every group manipulator subassembly and supplementary manipulator distinguishes mutually, can ensure that the manipulator subassembly can carry end effector and move almost all positions of setting for the space within range, thereby make the manipulator subassembly can support the operation type of multiple difference, improved surgical robot system's flexibility ratio.

Drawings

Fig. 1 is a schematic structural diagram of a surgical robot system provided by the present invention.

Fig. 2 is another structural view of the surgical robot system shown in fig. 1.

Fig. 3 is a schematic configuration diagram of a main manipulator of the surgical robot system shown in fig. 1.

Fig. 4 is a schematic structural view of an auxiliary manipulator of the surgical robot system shown in fig. 1.

Fig. 5 is a view illustrating an operation state of the surgical robot system shown in fig. 1 when performing a head natural passage interventional operation.

Fig. 6 is a diagram illustrating an operation state of the surgical robot system shown in fig. 1 when performing a genital tract interventional operation.

Fig. 7 is an operation state diagram of the surgical robot system shown in fig. 1 when performing a bilateral interventional operation.

Fig. 8 is a view showing an operation state of the surgical robot system shown in fig. 1 when performing a knee replacement operation.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" 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 "inner", "outer", "left", "right" and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

The inventor of the application finds that the traditional surgical robot system mainly comprises two types, wherein the manipulator assembly and the operating bed of one type of surgical robot system are separately arranged, so that the manipulator assembly and the operating bed are in completely independent states, and therefore the surgical robot is structurally complex and occupies a large space. Another kind of surgical robot system is the overall arrangement mode of manipulator subassembly and operation table combination, namely, this kind of surgical robot system's manipulator subassembly passes through the manipulator base and sets up in the operation table, and the manipulator base can move relative to the operation table, however this kind of surgical robot system's manipulator base can only move according to specific route, for example along linear motion, the manipulator subassembly can't drive end effector and move to setting for some positions in the space range simultaneously, thereby can't support the operation type of multiple difference, so this kind of surgical robot system's flexibility ratio is lower relatively, lead to can't satisfying the changeable operation requirement of various motion forms.

In order to improve at least part of the above problems, the present application provides a surgical robot system, which can be understood as a manipulator assembly directly integrated on a support assembly by directly disposing a plurality of groups of manipulator assemblies on the support assembly, so as to reduce the structure of the whole surgical robot system, thereby reducing the occupied space of the surgical robot system. Meanwhile, the number of the manipulator assemblies is multiple, the multiple groups of manipulator assemblies are arranged at intervals along a first direction, each manipulator assembly comprises an auxiliary manipulator and a main manipulator, the auxiliary manipulators can move along the first direction relative to the supporting assemblies, the main manipulators can move along a second direction relative to the supporting assemblies, the second direction is different from the first direction, namely, the first direction is different from the second direction, so that the whole manipulator assembly can drive the end effector to move to almost all point positions in a set space range, the end effector can rapidly and accurately move to a specified point position, the movement speed and the movement accuracy of the end effector are improved, and multiple different operation types are supported, the flexibility of the operation robot system is improved, and the operation robot system can meet operation requirements of various movement forms. The surgical robotic system provided by the present application is described in detail below with reference to specific embodiments and accompanying drawings.

Referring to fig. 1 and 2, a surgical robotic system 10 according to an embodiment of the present invention includes a support assembly 101, an operating table 102, and a manipulator assembly 103. Both the robot assembly 103 and the operating table 102 are disposed directly on the support assembly 101.

In some embodiments, the support assembly 101 includes a base 1011 and a column 1012, for example, the base 1011 may be a substantially rectangular plate-like structure, one end of the column 1012 is fixed to one surface of the base 1011 in the thickness direction, the other end of the column 1012 protrudes a certain height relative to the base 1011, and the column 1012 and the base 1011 may be perpendicular to each other. For convenience of description, the longitudinal direction of the base 1011 may be referred to as a first direction, the thickness direction of the base 1011 may be referred to as a second direction, and the width direction of the base 1011 may be referred to as a third direction. The first direction, the second direction and the third direction are perpendicular to each other, and the three directions can be regarded as extending directions of three coordinate axes of a spatial rectangular coordinate system. The X-axis and the Y-axis may jointly define a horizontal plane, and the Z-axis direction is perpendicular to the horizontal plane, and the Z-axis direction may be the gravity direction of the support assembly 101 when the surgical robotic system 10 is in the working state, so the Z-axis direction may also be understood as the vertical direction. In other embodiments, the first direction, the second direction, and the third direction may not be perpendicular to each other, for example, any two may be at an acute angle.

In some embodiments, the operating table 102 and the base 1011 are spaced apart in a second direction (i.e., the Z-axis direction), and the operating table 102 is positioned above the base 1011 when the surgical robotic system 10 is in an operating state. Operating table 102 includes relative head end 1023 and tail end 1024, wherein, head end 1023 can correspond to the head of patient, tail end 1024 corresponds to the buttock of patient and following position, head end 1023 is unanimous with the first direction to the direction of tail end 1024, can colloquially understand that operating table 102 roughly extends along the first direction (be the X axle direction), namely, the direction setting of multiunit manipulator subassembly 103 along head end to tail end 1024, so, be convenient for accomplish corresponding operation through corresponding manipulator subassembly 103, for example, accomplish the operation of head nature passageway intervention with the aid of the manipulator subassembly 103 of head end 1023, accomplish genital cavity way intervention operation etc. with the aid of the manipulator subassembly 103 of tail end 1024. The operating table 102 may include a bed plate 1021, the bed plate 1021 may also be a substantially rectangular flat plate structure, the thickness of the bed plate 1021 may be smaller than that of the base 1011, and an end (i.e., an upper end) of the column 1012 away from the base 1011 is connected to the bed plate 1021, such that the column 1012 is connected between the bed plate 1021 and the base 1011, and the column 1012 provides a supporting function for the installation of the bed plate 1021.

The operating table 102 may further include two leg plates 1022, where one end of each of the two leg plates 1022 is connected to the same end of the bed plate 1021, the other end of each of the two leg plates 1022 is a free end, and the two leg plates 1022 are disposed along the width direction of the bed plate 1021, for example, the two leg plates 1022 are spaced apart along the Y-axis direction. The plane that bed board 1021 was located and the plane that leg board 1022 was located are the obtuse angle setting, and in the operation process, patient's head, waist and buttock can bear on bed board 1021, and two shank of patient then can bear respectively on two leg boards 1022, so be convenient for the patient with the shank crooked to expose the position of treating the operation, do benefit to going on of operation.

In this embodiment, the bed plate 1021 can be rotated relative to the column 1012 to rotate the entire operating table 102 relative to the column 1012, so as to adjust the posture of the patient for the convenience of the operation. The bed plate 1021 has a first rotation axis extending in a first direction (i.e., the X-axis direction) and a second rotation axis extending in a third direction (i.e., the Y-axis direction). When the bed plate 1021 rotates around the first rotation axis, the included angle between the plane where the bed plate 1021 is located and the Y axis and the Z axis changes; when the bed plate 1021 rotates around the second rotation axis, the included angle between the plane where the bed plate 1021 is located and the X axis and the Z axis will change. For example, a first rotating shaft may be provided, which is rotatably connected to the upright 1012, an axis of the first rotating shaft is a first rotating axis, and the bed plate 1021 is fixedly connected to the first rotating shaft, so that when the first rotating shaft rotates, the bed plate 1021 can perform a turning motion relative to the upright 1012 along the first rotating axis. For another example, the column 1012 may be divided into two sections, the two sections are respectively denoted as a first section and a second section, the first section is fixedly connected to the bed plate 1021, the second section is fixedly connected to the base 1011, the second section is rotatably connected to a second rotating shaft, an axis of the second rotating shaft is a second rotating axis, the first section is fixed to the second rotating shaft, and when the first section rotates along the second rotating axis relative to the second section, the first section drives the bed plate 1021 to rotate along the second rotating axis relative to the column 1012.

In some embodiments, the manipulator assembly 103 may be disposed on a base 1011, and an end effector such as a surgical scissors or hemostat may be mounted on the manipulator assembly 103, such that the manipulator assembly 103 performs a surgical procedure on a patient via the end effector. When the surgical robotic system 10 is in operation, the manipulator assembly 103 is in an extended state and the end effector mounted on the manipulator assembly 103 will be positioned above the operating table 102; when the surgical robotic system 10 is at rest, the manipulator assembly 103 may be in a fully retracted state, and at this time, the manipulator assembly 103 will be located below the operating table 102, such that the manipulator assembly 103 is housed in the space between the operating table 102 and the base 1011, thereby reducing the occupied space of the entire surgical robotic system 10 and facilitating the handling and storage of the surgical robotic system 10.

In some embodiments, the number of the robot assemblies 103 may be two, and the two sets of robot assemblies 103 are respectively located at two opposite sides of the upright 1012, so that the upright 1012 is located between the two sets of robot assemblies 103, which may make the upright 1012 fully utilize the installation space between the two sets of robot assemblies 103, thereby facilitating to improve the compactness of the whole surgical robot system 10 in structure. Each set of manipulator assembly 103 comprises a plurality of main manipulators 100 and at least one auxiliary manipulator 200, the main manipulators 100 may be manual intervention manipulators, specifically, minimally invasive holes may be manually opened on the body of the patient, and a puncture sheath is inserted into the minimally invasive holes, so that the end effector mounted on the main manipulator 100 enters the body of the patient through the puncture sheath to perform the surgical operation. The auxiliary manipulator 200 may be a natural channel interventional manipulator, and particularly, the auxiliary manipulator 200 may enter the body through a surgical instrument installed in itself and make full use of a natural orifice of a patient, wherein the natural orifice may be an oral cavity, a nasal cavity, a genital cavity, or the like.

In the present embodiment, each auxiliary manipulator 200 is located between two of the plurality of main manipulators 100, and since the natural cavity is located approximately at the middle position of the human body, by disposing each auxiliary manipulator 200 between two of the plurality of main manipulators 100, it is convenient to set the position of the auxiliary manipulator 200 to approximately correspond to the position of the natural cavity, thus facilitating the auxiliary manipulator 20 to perform the natural channel intervention. For example, each set of robot assemblies 103 may include two primary robots 100 and one secondary robot 200, with the secondary robot 200 being located between the two primary robots 100. Specifically, with the same manipulator assembly 103, when the auxiliary manipulator 200 and the primary manipulator 100 are in the fully retracted state, the auxiliary manipulator 200 and the primary manipulator 100 are spaced apart in the third direction (i.e., the Y-axis direction) such that the auxiliary manipulator 200 is positioned between the two primary manipulators 100. Therefore, the auxiliary manipulator 200 makes full use of the accommodating space between the two main manipulators 100, reduces the occupied space of the manipulator assembly 103 and the whole surgical robot system 10, and is also beneficial to improving the flexibility of the movement of the manipulator assembly 103.

Referring to fig. 3, in some embodiments, the main manipulator 100 includes a main reference segment 110, a main docking segment 120 and a main surgical segment 130, the main reference segment 110 is connected to the support assembly 101, for example, the main reference segment 110 can be slidably connected with the upright 1012 along the second direction (i.e., the Z-axis direction), and the main docking segment 120 is movably connected between the main reference segment 110 and the main surgical segment 130. Wherein the main reference segment 110 is configured to provide a reference position and the main docking segment 120 provides coordinated movement such that the main surgical segment 130 moves the end effector to a desired position. In this embodiment, the main surgical section 130 is detachably connected to the end effector, the end effector is mounted to the main surgical section 130 to perform a surgical operation when the surgical robot system 10 is in operation, and the end effector can be unloaded from the main surgical section 130 when the surgical robot system 10 is in rest, so that the convenience of the surgical robot system 10 in the carrying process is improved.

The main surgical section 130 comprises a first surgical joint 131 and a second surgical joint 132, the first surgical joint 131 is connected to the main docking section 120, the first surgical joint 131 can rotate relative to the main docking section 120, the second surgical joint 132 is connected to the first surgical joint 131, the second surgical joint 132 can rotate relative to the first surgical joint 131, the rotation axis of the first surgical joint 131 is perpendicular to the rotation axis of the second surgical joint 132, the first surgical joint 131 and the second surgical joint 132 form a mechanical remote center point 160, the mechanical remote center point 160 is located at the end effector, the main manipulator 100 can drive the end effector to move relative to the mechanical remote center point 160, specifically, when the end effector moves relative to the mechanical remote center point 160, the mechanical remote center point 160 cannot move, and therefore the safety of the operation is guaranteed.

The main operation segment 130 further comprises a third operation joint 133, the third operation joint 133 is slidably connected to the second operation joint 132, for example, the third operation joint 133 has a sliding slot, and the second operation joint 132 has a sliding rail slidably engaged with the sliding slot, so as to achieve the sliding connection relationship between the third operation joint 133 and the second operation joint 132. The third surgical joint 133 can be removably coupled to the end effector, and the end effector can be unloaded from the third surgical joint 133 when resting, thereby improving the ease of handling of the surgical robotic system 10.

The main docking section 120 includes a plurality of pitch joints 121 and a plurality of rotation joints 122, the main docking section 120 is connected with the main reference section 110 through the rotation joints 122, each rotation joint 122 is connected between two pitch joints 121, and each pitch joint 121 is connected between two rotation joints 122, in colloquial, the rotation joints 122 and the pitch joints 121 are alternately connected in turn. The axis of rotation of each rotary joint 122 is perpendicular to the axis of rotation of the adjacent pitch joint 121.

In some embodiments, the rotational joint 122 may include a post 1221, the post 1221 extending in a straight line, i.e., the axis of the post 1221 is a straight line, and the rotational joint 122 will rotate about the axis of the post 1221. When the rotation joint 122 is connected to the pitch joint 121, the pillar portion 1221 of the rotation joint 122 is directly connected to the pitch joint 121. For the rotary joint 122 connected between two adjacent pitch joints 121, when the pitch joint 121 directly connected to the pillar 1221 is stationary and the rotary joint 122 and the other pitch joint 121 rotate, the angle between the axis of the pillar 1221 and the pitch joint 121 directly connected to the pillar 1221 remains constant, and the angle between the axis of the pillar 1221 and the other pitch joint 121 changes.

In some embodiments, the master manipulator 100 may have twelve master joints, wherein the twelve master joints may be sequentially denoted as a first master joint 141, a second master joint 142 … …, and a twelfth master joint 152, and the first to twelfth master joints 141 to 152 are sequentially connected. Specifically, the first master joint 141 may be slidably connected to the column 1012 along the second direction, the second master joint 142 is directly connected to the first master joint 141, the third master joint 143 is directly connected to the second master joint 142, and so on, i.e., the (N + 1) th master joint is directly connected to the nth master joint (3 ≦ N ≦ 9), the eleventh master joint 151 is directly connected to the tenth master joint 150, and the twelfth master joint 152 is directly connected to the eleventh master joint 151.

The first through third master joints 141 through 143 may form the master reference segment 110, the fourth through ninth master joints 144 through 149 may form the master docking segment 120, and the tenth through twelfth master joints 150 through 152 may form the master surgical segment 130. Therefore, the fourth main joint 144 to the ninth main joint 149 are the pitch joint 121 and the rotation joint 122; the tenth major joint 150 is the first surgical joint 131, the eleventh major joint 151 is the second surgical joint 132, and the twelfth major joint 152 is the third surgical joint 133.

For example, the fourth master joint 144 is the revolute joint 122, the post 1221 of the fourth master joint 144 is directly connected to the third master joint 143, and the angle between the axis of the post 1221 of the fourth master joint 144 and the third master joint 143 may be maintained during rotation of the fourth master joint 144. The fifth master joint 145 is the pitch joint 121, and during the rotation of the fifth master joint 145, the included angle between the axis of the pillar 1221 of the fourth master joint 144 and the fifth master joint 145 changes. The sixth master joint 146 is a revolute joint 122, and the angle between the axis of the post 1221 of the sixth master joint 146 and the fifth master joint 145 may remain constant during rotation of the sixth master joint 146. The seventh primary joint 147 is the pitch joint 121, and during rotation of the seventh primary joint 147, the angle between the axis of the post 1221 of the sixth primary joint 146 and the seventh primary joint 147 changes. The eighth primary joint 148 is the revolute joint 122, and during the rotation of the eighth primary joint 148, the angle between the axis of the post 1221 of the eighth primary joint 148 and the seventh primary joint 147 may remain constant. The ninth master joint 149 is the pitch joint 121, and an angle formed between the axis of the pillar portion 1221 of the eighth master joint 148 and the ninth master joint 149 changes during rotation of the ninth master joint 149. Therefore, the fourth master joint 144 is the rotary joint 122, the fifth master joint 145 is the pitch joint 121, the sixth master joint 146 is the rotary joint 122, the seventh master joint 147 is the pitch joint 121, the eighth master joint 148 is the rotary joint 122, and the ninth master joint 149 is the pitch joint 121. In other embodiments, the fourth master joint 144 is the pitch joint 121, the fifth master joint 145 is the rotation joint 122, the sixth master joint 146 is the pitch joint, the seventh master joint 147 is the rotation joint 122, the eighth master joint 148 is the pitch joint 121, and the ninth master joint 149 is the rotation joint 122.

For the primary reference segment 110, the second primary joint 142 may be the rotational joint 122 and the third primary joint 143 may be the pitch joint 121. For the primary surgical segment 130, the tenth primary joint 150 may be the revolute joint 122 and the eleventh primary joint 151 may be the pitch joint 121.

Therefore, the pitch joint 121 and the rotation joint 122 may alternately appear in order in the order of connection of the ten master joints such as the second master joint 142 to the eleventh master joint 151 in the master manipulator 100, and for example, when the second master joint 142 is the rotation joint 122, the third master joint 143 is the pitch joint 121, the fourth master joint 144 is the rotation joint 122, the fifth master joint 145 is the pitch joint 121, the sixth master joint 146 is the rotation joint 122, the seventh master joint 147 is the pitch joint 121, the eighth master joint 148 is the rotation joint 122, the ninth master joint 149 is the pitch joint 121, the tenth master joint 150 is the rotation joint 122, and the eleventh master joint 151 is the pitch joint 121.

In view of the above arrangement of the main manipulator 100, the twelfth main joint 152 has a higher degree of freedom, so that the twelfth main joint 152 drives the end effector to reach almost all points in the set spatial range quickly and accurately, and thus the twelfth main joint 152 can drive the end effector to support multiple different surgical types, which improves the flexibility of the surgical robot system 10.

In the use process of the main manipulator 100, a minimally invasive hole can be manually formed in the body of the patient, and the puncture sheath is arranged in the minimally invasive hole in a penetrating manner, so that the end effector enters the body of the patient through the puncture sheath to perform the operation. For the entire primary manipulator 100, the primary reference segment 110 essentially provides a reference position for the entire primary manipulator 100, facilitating the docking device fixed on the tenth primary joint 150 to dock with the cannula. During surgery, the main surgical segment 130 provides various movements of the surgical instruments relative to the mechanical remote center point 160, the main reference segment 110 and the main docking segment 120 may be stationary, and the mechanical remote center point 160 may be understood as the surgical access point. When the body position of the patient needs to be adjusted, the postures of the main reference segment 110 and the main docking segment 120 can be directly adjusted by hands, so that the surgical instrument can be ensured to accurately reach a safe surgical intervention point.

Referring to fig. 3 and 8, in some embodiments, in the main docking section 120 of the main manipulator 100, one of the pitch joints 121 is detachably connected with an adjacent rotation joint 122, and for the rotation joint 122 detachably connected with the pitch joint 121, the rotation joint 122 is detachably connectable with the orthopedic surgical effector 170. For example, the ninth master joint 149 is the pitch joint 121, the ninth master joint 149 is detachably connected to the eighth master joint 148 as the rotation joint 122, and the orthopedic surgical actuator 170 is detachably mountable on the eighth master joint 148. In a double knee replacement procedure, the ninth master joint 149 may be unloaded from the eighth master joint 148 such that the ninth master joint 149 through the twelfth master joint 152 are all unloaded, and an orthopedic surgical actuator 170 is mounted to the eighth master joint 148 for a double knee orthopedic procedure. Therefore, the surgical robot system 10 is compatible with bone surgery, the surgical robot system 10 has a wider application range, and the universality of the surgical robot system 10 is improved.

In some embodiments, the robot assembly 103 further includes a plurality of torque sensors (not shown), and the plurality of torque sensors are disposed on the main reference segment 110 and/or the main docking segment 120. When the patient's posture is adjusted, the position of the end effector will also be adjusted at the same time, typically by the surgeon applying a drag force directly to the tenth primary joint 150, thereby moving the end effector to the desired position. In the process of the motion of the tenth main joint 150, the main reference segment 110 and/or the main docking segment 120 will also move at the same time, and the torque sensor will detect the magnitude of the dragging force, so that the motor generates assistance to the motion of each main joint, and the manual adjustment of the main manipulator 100 is easier and more convenient, and the safety of the main manipulator 100 carrying surgical instruments to enter the puncture sheath is also improved to a certain extent.

Referring to fig. 1, 2 and 4, in some embodiments, the auxiliary manipulator 200 includes an auxiliary reference segment 210, an auxiliary docking segment 220 and an auxiliary surgical segment 230. The auxiliary reference section 210 is connected to the support assembly 101 and is capable of moving in a third direction relative to the support assembly 101, the auxiliary docking section 220 is movably connected between the auxiliary reference section 210 and the auxiliary surgical section 230, and the auxiliary surgical section 230 is capable of being detachably connected with the end effector.

The auxiliary robot 200 includes a plurality of auxiliary joints, and the number of auxiliary joints in the same auxiliary robot 200 may be less than the number of main joints in the same main robot 100. For example, the number of the auxiliary joints in the auxiliary robot 200 may be eight, and further, the fourth main joint 144 in the main robot 100 may be unloaded from the fifth main joint 145, so that all of the first main joint 141 to the fourth main joint 144 may be unloaded. The remaining fifth through twelfth master joints 145 through 152 will form the auxiliary robot 200 described above. The eight auxiliary joints in the auxiliary robot 200 may be described as first to eighth auxiliary joints 241 to 248, respectively, and the first to eighth auxiliary joints 241 to 248 are sequentially connected. Specifically, the first auxiliary joint 241 may be slidably connected to the base 1011 along a third direction (i.e. the Z-axis direction), the second auxiliary joint 242 is directly connected to the first auxiliary joint 241, the third auxiliary joint 243 is directly connected to the second auxiliary joint 242, and so on, that is, the (N + 1) th main joint is directly connected to the nth main joint (N is greater than or equal to 3 and less than or equal to 6), and the eighth auxiliary joint 248 is directly connected to the seventh auxiliary joint 247. The first auxiliary joint 241 may form the auxiliary reference section 210, the second auxiliary joint 242 to the fifth auxiliary joint 245 may form the auxiliary docking section 220, and the sixth auxiliary joint to the eighth auxiliary joint may form the auxiliary surgical section 230.

Referring to the above description of the main robot 100, the pitch joint 121 and the rotation joint 122 may alternately appear in the order of the connection of the six auxiliary joints, such as the second auxiliary joint 242 to the seventh auxiliary joint 247 in the auxiliary robot 200, for example, the second auxiliary joint 242 may be the rotation joint 122, the third auxiliary joint 243 may be the pitch joint 121, the fourth auxiliary joint 244 may be the rotation joint 122, the fifth auxiliary joint 245 may be the pitch joint 121, the sixth auxiliary joint 246 may be the rotation joint 122, and the seventh auxiliary joint 247 may be the pitch joint 121. For another example, the second auxiliary joint 242 may be a pitch joint 121, the third auxiliary joint 243 may be a rotation joint 122, the fourth auxiliary joint 244 may be a pitch joint 121, the fifth auxiliary joint 245 may be a rotation joint 122, the sixth auxiliary joint 246 may be a pitch joint 121, and the seventh auxiliary joint 247 may be a rotation joint 122.

In view of the above arrangement of the auxiliary manipulator 200, the eighth auxiliary joint 248 has relatively high degree of freedom, so that the number of points that the eighth auxiliary joint 248 drives the end effector to reach within the set spatial range rapidly and accurately is greatly increased, and the eighth auxiliary joint 248 can drive the end effector to support more different operation types, thereby improving the flexibility of the surgical robot system 10. In the using process of the auxiliary manipulator 200, the surgical instrument installed on the eighth auxiliary joint 248 can enter the body by making full use of the natural cavity of the patient, wherein the natural cavity can be the oral cavity, the nasal cavity or the genital cavity, etc.

The surgical robotic system 10 may perform natural passage intervention on the head, genital tract intervention, unilateral intervention, or double knee replacement, etc. For convenience of description, in the case where the robot assemblies 103 are two in number, the robot assembly 103 located under the head of the patient in the fully contracted state is referred to as a first robot assembly 1031, and the robot assembly 103 located under the leg of the patient in the fully contracted state is referred to as a second robot assembly 1032.

Referring to fig. 5, for a head natural access interventional procedure, the two primary robots 100 and the auxiliary robot 200 of the first robot assembly 1031 are extended and operated, the two primary robots 100 of the second robot assembly 1032 are extended and operated, and the auxiliary robot 200 of the second robot assembly 1032 may be in a fully retracted state and not operated. Referring to fig. 6, for the genital tract intervention, the two main manipulators 100 of the first manipulator assembly 1031 are extended and put into operation, and the auxiliary manipulator 200 of the first manipulator assembly 1031 may be in a fully retracted state and not put into operation; the two primary and secondary robots 100 and 200 in the second robot assembly 1032 are extended and begin operation. Referring to fig. 7, for the opposite-side interventional operation, the two main manipulators 100 of the first manipulator assembly 1031 are extended and operated, and the auxiliary manipulator 200 in the first manipulator assembly 1031 may be in a fully contracted state and not operated; one of the primary robots 100 of the second robot assembly 1032 is extended and brought into operation, and the other of the primary and auxiliary robots 100, 200 of the second robot assembly 1032 may be in a fully retracted state and out of operation. Referring to fig. 8, for a double knee replacement procedure, the ninth master joint 149 of the two master manipulators 100 in the second manipulator assembly 1032 may be unloaded from the eighth master joint 148 such that the ninth to twelfth master joints 149-152 are all unloaded and the orthopaedic surgical effector 170 is installed on the eighth master joint 148 to begin working; the auxiliary robot 200 in the second robot assembly 1032 may be in a fully retracted state and not operated, and the entire first robot assembly 1031 may be in a fully retracted state and not operated.

In summary, with the surgical robot system 10 in the above embodiment, since the plurality of sets of robot arm assemblies 103 are all mounted on the support assembly 101, the occupied space of the surgical robot system 10 can be reduced. And the main manipulator 100 and the auxiliary manipulator 200 have simple structures, and each manipulator assembly 103 has a higher degree of freedom, so that the manipulator assembly 103 carrying an end effector can be ensured to rapidly and accurately move to almost all point positions within a set spatial range, thereby enabling the manipulator assembly 103 to support various different operation types, and improving the flexibility of the surgical robot system 10.

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, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (13)

1. A surgical robotic system, comprising:

a support assembly;

an operating table disposed on the support assembly; and

the manipulator subassembly, the multiunit the manipulator subassembly along first direction interval set up in the supporting component, every group the manipulator subassembly includes main manipulator and auxiliary machinery hand, auxiliary machinery hand can be relative the supporting component is followed first direction motion, main manipulator can be relative the supporting component moves along the second direction, first direction with the second direction is distinguished mutually.

2. A surgical robotic system as claimed in claim 1, wherein each set of manipulator assemblies comprises a plurality of said primary manipulators and at least one said secondary manipulator, each said secondary manipulator being located between two of said primary manipulators of the plurality.

3. A surgical robotic system as claimed in claim 1, wherein the surgical table includes opposite head and tail ends, the head to tail end direction being coincident with the first direction.

4. A surgical robotic system as claimed in claim 1, wherein the primary manipulator comprises a primary reference segment connected to the support assembly and movable relative thereto in the second direction, a primary docking segment movably connected between the primary reference segment and the primary surgical segment, and a primary surgical segment detachably connectable with an end effector.

5. A surgical robotic system as claimed in claim 4, wherein the primary surgical segment includes a first surgical joint and a second surgical joint, the first surgical joint being coupled to the primary docking segment and being rotatable relative to the primary docking segment, the second surgical joint being coupled to the first surgical joint and being rotatable relative to the first surgical joint, an axis of rotation of the first surgical joint being perpendicular to an axis of rotation of the second surgical joint, the first surgical joint and the second surgical joint forming a mechanical remote center point, the mechanical remote center point being located at the end effector, and the primary manipulator being capable of driving the end effector into motion relative to the mechanical remote center point.

6. The surgical robotic system as claimed in claim 5, wherein the primary surgical segment further includes a third surgical joint slidably connected to the second surgical joint and detachably connectable with the end effector.

7. The surgical robotic system as claimed in claim 4, wherein the main docking section comprises a plurality of pitch joints and a plurality of rotation joints, the main docking section being connected to the main reference section by the rotation joints, each of the rotation joints being connected between two of the pitch joints and each of the pitch joints being connected between two of the rotation joints, the axis of rotation of each of the rotation joints being perpendicular to the axis of rotation of an adjacent pitch joint, one of the pitch joints being detachably connected to an adjacent rotation joint.

8. A surgical robotic system as claimed in claim 7, wherein the rotary joint detachably connected to an adjacent pitched joint is detachably connectable with an orthopaedic surgical effector.

9. A surgical robotic system as claimed in claim 4, wherein the manipulator assembly further comprises a plurality of torque sensors provided at the main reference segment and/or the main docking segment.

10. The surgical robotic system as claimed in claim 1, wherein the auxiliary manipulator includes an auxiliary reference section, an auxiliary docking section and an auxiliary surgical section, the auxiliary reference section being coupled to the support assembly and being movable relative to the support assembly in a third direction, the first direction, the second direction and the third direction being distinct, the auxiliary docking section being movably coupled between the auxiliary reference section and the auxiliary surgical section, the auxiliary surgical section being detachably connectable with an end effector.

11. A surgical robotic system as claimed in any one of claims 1 to 10, wherein the support assembly includes a base and a column, the table and the base being spaced apart along the second direction, the column being connected between the base and the table, the table being movably connected to the column, and the two sets of manipulator assemblies being arranged respectively on opposite sides of the column.

12. A surgical robotic system as claimed in claim 11, wherein the surgical table has a first axis of rotation extending in the first direction and a second axis of rotation extending in a direction perpendicular to the first and second directions.

13. A surgical robotic system as claimed in any one of claims 1 to 10, wherein the table includes a bed plate and a leg plate connected to an end of the bed plate, the plane of the bed plate being at an obtuse angle to the plane of the leg plate.

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