CN116172716A - Single-arm single-hole minimally invasive endoscopic surgery robot - Google Patents

Abstract

The invention provides a single-arm single-hole minimally invasive endoscopic surgery robot, which relates to the technical field of medical instruments and comprises an instrument mounting seat and a connecting seat, wherein the connecting seat is rotationally connected with the instrument mounting seat, an endoscope assembly, an electrotome surgery assembly, a needle holder assembly and a tissue forceps assembly are arranged on the connecting seat, the endoscope assembly, the electrotome surgery assembly, the needle holder assembly and the tissue forceps assembly are circumferentially distributed along the axis of the rotating connection part of the connecting seat and the instrument mounting seat, and the endoscope assembly, the electrotome surgery assembly, the needle holder assembly and the tissue forceps assembly are all arranged in a reciprocating manner along the direction of the axis. When in minimally invasive surgery, only a single incision is needed to be implemented on the body surface of a human body or a channel is needed to be established for surgical instruments to enter the human body through a natural cavity on the human body, so that a plurality of scars can be left on the body surface of a patient after surgery, less wounds, quicker recovery and fewer scars are realized, and the postoperative recovery speed is improved.

Description

Single-arm single-hole minimally invasive endoscopic surgery robot

Technical Field

The invention relates to the technical field of medical equipment, in particular to a single-arm single-hole minimally invasive endoscopic surgery robot.

Background

Compared with the traditional minimally invasive surgery, the robot minimally invasive surgery has the advantages of being more accurate, smaller in wound, quick in postoperative recovery, good in healing and the like, and therefore the robot minimally invasive surgery is more widely applied to modern medical surgery. At present, the most medical operation is a multi-arm porous endoscopic operation robot, a plurality of incisions are needed to be implemented on the body surface of a human body, a channel is established for surgical instruments to enter the human body, and a plurality of scars can be left on the body surface of the patient after the operation, so that the recovery speed is influenced.

Less trauma, faster recovery, less scarring are sought. The development direction of the future robot operation is from multi-hole to single-hole, and the single-hole is from natural cavity passage, thus truly realizing the noninvasive operation.

Disclosure of Invention

The invention solves the problems that: how to realize the problem of scar reduction on the surface of a patient after operation.

In order to solve the problems, the invention provides a single-arm single-hole minimally invasive endoscopic surgery robot which comprises an instrument mounting seat and a connecting seat, wherein the connecting seat is rotationally connected with the instrument mounting seat, an endoscope assembly, an electrotome surgery assembly, a needle holder assembly and a tissue clamp assembly are arranged on the connecting seat, the endoscope assembly, the electrotome surgery assembly, the needle holder assembly and the tissue clamp assembly are circumferentially distributed along the axis of the rotating connection part of the connecting seat and the instrument mounting seat, and the endoscope assembly, the electrotome surgery assembly, the needle holder assembly and the tissue clamp assembly are all arranged in a reciprocating manner along the direction of the axis.

Optionally, the endoscope subassembly includes endoscope, endoscope drive assembly, endoscope guide rail and endoscope drive assembly, the endoscope with the endoscope drive assembly is connected, the endoscope guide rail with the connecting seat is connected, the endoscope drive assembly with endoscope guide rail sliding connection, the extending direction of endoscope guide rail with the direction at axis place is unanimous, the endoscope drive assembly passes through the endoscope drive assembly drive the endoscope is followed the endoscope guide rail removes.

Optionally, the electric knife operation subassembly includes electric knife, electric knife transmission subassembly, electric knife guide rail and electric knife drive assembly, the electric knife with electric knife transmission subassembly is connected, the electric knife guide rail with the connecting seat is connected, electric knife transmission subassembly with electric knife guide rail sliding connection, the extending direction of electric knife guide rail with the direction at axis place is unanimous, electric knife drive assembly passes through electric knife transmission subassembly drive the electric knife is followed the electric knife guide rail removes.

Optionally, the needle holder assembly includes needle holder, needle holder drive assembly, needle holder guide rail and needle holder drive assembly, needle holder is connected with the needle holder drive assembly who complains to search for the fox, needle holder guide rail with the connecting seat is connected, needle holder drive assembly with needle holder guide rail sliding connection, the extending direction of needle holder guide rail with the axis place direction is unanimous, needle holder drive assembly passes through needle holder drive assembly drive needle holder is followed the needle holder guide rail removes.

Optionally, the tissue clamp assembly includes tissue clamp, tissue clamp transmission assembly, tissue clamp guide rail and tissue clamp drive assembly, prevent the clamp with tissue clamp transmission assembly connects, tissue clamp guide rail with the connecting seat is connected, tissue clamp transmission assembly with tissue clamp guide rail sliding connection, the extending direction of tissue clamp guide rail with the direction at axis place is unanimous, tissue clamp drive assembly passes through tissue clamp transmission assembly drive tissue clamp is followed tissue clamp guide rail removes.

The single-arm Shan Kongwei endoscopic surgery robot further comprises a rotating arm, a connecting arm and a supporting arm, wherein the supporting arm is connected with the instrument mounting seat, two ends of the connecting arm are respectively and rotatably connected with the end parts of the rotating arm and the supporting arm, and two rotation center lines of the rotating arm and the supporting arm respectively and rotatably connected with the connecting arm are both intersected with the axis at the same datum point.

Optionally, a poking structure is arranged on the instrument mounting seat, and the electric knife, the endoscope, the needle holder and the tissue forceps are all rotationally connected with the poking structure.

Optionally, the single-arm Shan Kongwei endoscopic surgery robot further comprises a lifting upright post and a base, wherein a tubular column is arranged on the base, one end of the lifting upright post is rotatably connected with one end of the rotating arm, which is away from the connecting arm, and the other end of the lifting upright post extends into the tubular column and is arranged in the tubular column in a reciprocating manner through a driving structure.

Optionally, a sliding rail is arranged in the pipe column, a sliding block is arranged on the lifting upright column, the sliding block is in sliding connection with the sliding rail, and the extending direction of the sliding rail is consistent with the moving direction of the lifting upright column.

Optionally, an armrest is further disposed on the base.

Compared with the prior art, the single-arm single-hole minimally invasive endoscopic surgical robot is rotationally connected with the instrument mounting seat through the connecting seat, so that the connecting seat can rotate relative to the instrument mounting seat, and the endoscope assembly, the electric knife operation assembly, the needle holding clamp assembly and the tissue clamp assembly are arranged on the connecting seat, so that necessary surgical tools required by minimally invasive surgery are arranged on the connecting seat, and the endoscope assembly, the electric knife operation assembly, the needle holding clamp assembly and the tissue clamp assembly can rotate relative to the instrument mounting seat through the connecting seat, so that the relative positions can be adjusted, the endoscope assembly, the electric knife operation assembly, the needle holding clamp assembly and the tissue clamp assembly are circumferentially distributed along the axis of the rotating joint of the connecting seat and the instrument mounting seat, and the endoscope assembly, the electric knife operation assembly, the needle holding clamp assembly and the tissue clamp assembly are all arranged in a reciprocating manner along the direction of the axis, so that the movement of the endoscope assembly, the electric knife operation assembly, the needle holding clamp assembly and the tissue clamp assembly are not interfered with each other, and therefore, the endoscope assembly, the electric knife operation assembly, the needle holding clamp assembly and the tissue clamp assembly can enter a human body through the same incision according to the implementation of surgery, when minimally invasive surgery, the human body can be realized, the scar can be reduced, the scar can be quickly restored to a human body through the single cavity or through the implementation of the instrument on the human body surface, the human body, the scar can be reduced, the scar can be naturally reduced, the scar can be even more can be restored to a human body, the human body, and the scar can be reduced, and the human body can be more can be naturally and the human body can be reduced, and the scar can be reduced, and the human body can be more and the human body and the wound.

Drawings

FIG. 1 is a schematic diagram of a single-arm single-hole minimally invasive endoscopic surgical robot in an embodiment of the invention;

FIG. 2 is a schematic diagram II of a single-arm single-hole minimally invasive endoscopic surgical robot in an embodiment of the invention;

FIG. 3 is a schematic view of an endoscope assembly according to an embodiment of the present invention;

FIG. 4 is a schematic view of the electrotome surgical assembly according to an embodiment of the present invention;

FIG. 5 is a schematic view of a needle holder assembly according to an embodiment of the present invention;

FIG. 6 is a schematic view of the structure of a tissue gripper assembly according to an embodiment of the present invention;

FIG. 7 is a schematic diagram III of a single-arm single-hole minimally invasive endoscopic surgical robot in an embodiment of the invention;

FIG. 8 is a schematic diagram of a single-arm single-hole minimally invasive endoscopic surgical robot according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a single-arm single-hole minimally invasive endoscopic surgical robot according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a structure of a card according to an embodiment of the present invention;

FIG. 11 is a second schematic diagram of a structure of a card according to an embodiment of the present invention;

FIG. 12 is a schematic view of a lifting column according to an embodiment of the present invention;

FIG. 13 is a second schematic structural view of a lifting column according to an embodiment of the present invention;

fig. 14 is a schematic structural view of a lifting column according to an embodiment of the present invention.

Reference numerals illustrate:

100-an endoscope assembly; 110-an endoscope; 120-an endoscope drive assembly; 130-an endoscope rail; 140-an endoscope drive assembly;

200-electrosurgical assembly; 210-electric knife; 220-electric knife transmission assembly; 230-an electric knife guide rail; 240-an electric knife drive assembly;

300-needle holder assembly; 310-needle holding forceps; 320-needle holder transmission assembly; 330-needle holder guide rail; 340-needle holder drive assembly;

400-tissue forceps assembly; 410-tissue forceps; 420-tissue forceps transmission assembly; 430—tissue forceps guide rail; 440-tissue forceps drive assembly;

500-rotating arms; 510-a first rotating arm; 520-a second rotating arm; 600-connecting arms; 700-supporting arms;

800-an instrument mount; 810-a card stamping structure; 811-stamping a card holder; 812-inner ring; 820-lifting columns; 821-slider; 822-a column body; 830-base; 831-column; 832-slide rail; 833—armrests; 834-a control screen; 840-a drive structure; 841-motor assembly; 842-ladder-shaped lead screw; 843-nut; 844-connecting frame;

900-connecting seats;

10-datum point; 20-a first rotation centerline; 30-a second rotation centerline; 40-third rotation center line.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the description of the present specification, descriptions of the terms "embodiment," "one embodiment," "some embodiments," "illustratively," and "one embodiment" and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or implementations.

The terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. As such, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

The Z-axis in the drawing represents vertical, i.e., up-down position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; the X-axis in the drawing indicates a horizontal direction and is designated as a left-right position, and the positive direction of the X-axis (i.e., the arrow of the X-axis is directed) indicates a right side, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) indicates a left side; the Y-axis in the drawing shows the front-to-back position, and the positive direction of the Y-axis (i.e., the arrow of the Y-axis points) shows the back side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) shows the front side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis are meant to be illustrative only and not indicative or implying that the apparatus or component in question must be oriented, configured or operated in a particular orientation, and therefore should not be construed as limiting the invention.

Referring to fig. 1 and 2, an embodiment of the present invention provides a single-arm single-hole minimally invasive endoscopic surgery robot, which includes an instrument mounting seat 800 and a connecting seat 900, wherein the connecting seat 900 is rotationally connected with the instrument mounting seat 800, an endoscope assembly 100, an electric knife surgery assembly 200, a needle holder assembly 300 and a tissue forceps assembly 400 are disposed on the connecting seat 900, the endoscope assembly 100, the electric knife surgery assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 are circumferentially distributed along an axis of a rotational connection position of the connecting seat 900 and the instrument mounting seat 800, and the endoscope assembly 100, the electric knife surgery assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 are reciprocally moved along the direction of the axis.

Specifically, taking the example that the instrument mounting seat 800 is in a cylindrical structure as a whole, the connecting seat 900 is located at the bottom of the instrument mounting seat 800, and the connecting seat 900 is rotationally connected with the instrument mounting seat 800 through an integrated rotary joint, that is, the connecting seat 900 can rotate relative to the instrument mounting seat 800, and takes the axis of the rotational connection position of the connecting seat 900 and the instrument mounting seat 800 as a first rotation center line 20 (hereinafter, the same is true), the mounting positions of the endoscope assembly 100, the electric knife operation assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 are provided on the connecting seat 900, that is, the endoscope assembly 100, the electric knife operation assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 are all reciprocally moved in the direction of the first rotation center line 20, that is, the endoscope assembly 100, the electric knife assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 are all moved along the incision center line 20 or are moved away from the incision center line 20 by screws. In operation, after a single incision is made in the surface of the human body, the endoscope assembly 100, the electrosurgical assembly 200, the needle holder assembly 300, and the tissue gripper assembly 400 sequentially enter the incision by rotation of the coupling holder 900 or movement of each in the direction of the first rotation center line 20 to perform the operation.

Therefore, in this embodiment, the connection seat 900 is rotatably connected with the instrument mounting seat 800, so that the connection seat 900 can rotate relative to the instrument mounting seat 800, and the endoscope assembly 100, the electric knife operation assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 are arranged on the connection seat 900, so that the connection seat 900 is provided with necessary operation tools required by the minimally invasive operation, the endoscope assembly 100, the electric knife operation assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 can rotate relative to the instrument mounting seat 800 through the connection seat 900, so as to realize the adjustment of the relative positions, and then the endoscope assembly 100, the electric knife operation assembly 200, the needle holder assembly 300 and the tissue forceps assembly 400 are circumferentially distributed along the axis of the rotation connection position of the connection seat 900 and the instrument mounting seat 800, the endoscope assembly 100, the electrotome operation assembly 200, the needle holding clamp assembly 300 and the tissue clamp assembly 400 are arranged in a reciprocating manner along the direction of the axis, and the movement of the endoscope assembly 100, the electrotome operation assembly 200, the needle holding clamp assembly 300 and the tissue clamp assembly 400 is not interfered with each other, so that the surgical instruments can enter a human body from the same incision according to the operation implementation, and in the minimally invasive operation, only a single incision is implemented on the surface of the human body or a channel is established for the surgical instruments to enter the human body through a natural cavity on the human body, so that a plurality of scars can be left on the surface of the patient after the operation, less wounds, faster recovery and fewer scars are realized, the postoperative recovery speed is improved, and the robot operation can be pushed to develop from multiple holes to single holes or even single holes to the natural cavity channels, so that the noninvasive operation is realized.

Alternatively, as shown in connection with fig. 3, the endoscope assembly 100 includes an endoscope 110, an endoscope transmission assembly 120, an endoscope rail 130, and an endoscope driving assembly 140, the endoscope 110 is connected with the endoscope transmission assembly 120, the endoscope rail 130 is connected with the connecting seat 900, the endoscope transmission assembly 120 is slidably connected with the endoscope rail 130, the extending direction of the endoscope rail 130 coincides with the direction of the axis, and the endoscope driving assembly 140 drives the endoscope 110 to move along the endoscope rail 130 through the endoscope transmission assembly 120.

Specifically, the endoscope 110 is connected with the endoscope transmission assembly 120 through a screw, the endoscope guide rail 130 is connected with the connecting seat 900 through a screw, the endoscope transmission assembly 120 is slidably connected with the endoscope guide rail 130 through a sliding block, the extending direction of the endoscope guide rail 130 is consistent with the direction of the axis, the endoscope driving assembly 140 drives the endoscope 110 to reciprocate linearly along the endoscope guide rail 130 through the endoscope transmission assembly 120, and the endoscope transmission assembly 120 can be composed of a screw transmission pair.

In this way, the endoscope 110 is connected with the endoscope transmission assembly 120, the endoscope guide rail 130 is connected with the connecting seat 900, the endoscope transmission assembly 120 is slidably connected with the endoscope guide rail 130, the extending direction of the endoscope guide rail 130 is consistent with the direction of the axis, the moving direction of the endoscope transmission assembly 120 is consistent with the direction of the axis, and the endoscope 110 is driven by the endoscope driving assembly 140 to move along the endoscope guide rail 130 through the endoscope transmission assembly 120, so that the movement of the endoscope 110 is guided by the endoscope guide rail 130, and the moving stability of the endoscope 110 is improved.

Optionally, as shown in connection with fig. 4, the electric scalpel operation assembly 200 includes an electric scalpel 210, an electric scalpel transmission assembly 220, an electric scalpel guide rail 230 and an electric scalpel driving assembly 240, the electric scalpel 210 is connected with the electric scalpel transmission assembly 220, the electric scalpel guide rail 230 is connected with the connecting seat 900, the electric scalpel transmission assembly 220 is slidably connected with the electric scalpel guide rail 230, the extending direction of the electric scalpel guide rail 230 is consistent with the direction of the axis, and the electric scalpel driving assembly 240 drives the electric scalpel 210 to move along the electric scalpel guide rail 230 through the electric scalpel transmission assembly 220.

Specifically, the electric knife 210 is connected with the electric knife driving assembly 220 through a screw, the electric knife guide rail 230 is connected with the connecting seat 900 through a screw, the electric knife driving assembly 220 is slidably connected with the electric knife guide rail 230 through a sliding block, the extending direction of the electric knife guide rail 230 is consistent with the direction of the axis, and the electric knife driving assembly 240 drives the electric knife 210 to reciprocate linearly along the electric knife guide rail 230 through the electric knife driving assembly 220, wherein the electric knife driving assembly 220 can be composed of a screw driving pair.

In this way, through the connection of the electric knife 210 and the electric knife transmission assembly 220, the electric knife guide rail 230 is connected with the connecting seat 900, the electric knife transmission assembly 220 is in sliding connection with the electric knife guide rail 230, the extending direction of the electric knife guide rail 230 is consistent with the direction of the axis, the moving direction of the electric knife transmission assembly 220 is consistent with the direction of the axis, and the electric knife 210 is driven by the electric knife driving assembly 240 to move along the electric knife guide rail 230 through the electric knife transmission assembly 220, so that the movement of the electric knife 210 is guided by the electric knife guide rail 230, thereby improving the moving stability of the electric knife 210.

Alternatively, as shown in fig. 5, the needle holder assembly 300 includes a needle holder 310, a needle holder transmission assembly 320, a needle holder guide rail 330 and a needle holder driving assembly 340, the needle holder 310 is connected with the needle holder transmission assembly 320, the needle holder guide rail 330 is connected with the connection seat 900, the needle holder transmission assembly 320 is slidably connected with the needle holder guide rail 330, the extending direction of the needle holder guide rail 330 is consistent with the direction of the axis, and the needle holder driving assembly 340 drives the needle holder 310 to move along the needle holder guide rail 330 through the needle holder transmission assembly 320.

Specifically, the needle holder 310 is connected with the needle holder transmission assembly 320 through a screw, the needle holder guide rail 330 is connected with the connection seat 900 through a screw, the needle holder transmission assembly 320 is slidably connected with the needle holder guide rail 330 through a slider, the extending direction of the needle holder guide rail 330 is consistent with the direction of the axis, and the needle holder driving assembly 340 drives the needle holder 310 to reciprocate linearly along the needle holder guide rail 330 through the needle holder transmission assembly 320, wherein the needle holder transmission assembly 320 can be composed of a screw transmission pair.

In this way, the needle holder 310 is connected with the needle holder transmission assembly 320, the needle holder guide rail 330 is connected with the connecting seat 900, the needle holder transmission assembly 320 is slidably connected with the needle holder guide rail 330, the extending direction of the needle holder guide rail 330 is consistent with the direction of the axis, the moving direction of the needle holder transmission assembly 320 is consistent with the direction of the axis, and the needle holder driving assembly 340 drives the needle holder 310 to move along the needle holder guide rail 330 through the needle holder transmission assembly 320, so that the movement of the needle holder 310 is guided by the needle holder guide rail 330, thereby improving the moving stability of the needle holder 310.

Optionally, as shown in connection with fig. 6, the tissue gripper assembly 400 includes a tissue gripper 410, a tissue gripper transmission assembly 420, a tissue gripper guide 430 and a tissue gripper driving assembly 440, the tissue gripper 410 is connected with the tissue gripper transmission assembly 420, the tissue gripper guide 430 is connected with the connecting seat 900, the tissue gripper transmission assembly 420 is slidably connected with the tissue gripper guide 430, the extending direction of the tissue gripper guide 430 is consistent with the direction of the axis, and the tissue gripper driving assembly 440 drives the tissue gripper 410 to move along the tissue gripper guide 430 through the tissue gripper transmission assembly 420.

Specifically, the tissue forceps 410 is connected with the tissue forceps transmission assembly 420 through a screw, the tissue forceps guide rail 430 is connected with the connecting seat 900 through a screw, the tissue forceps transmission assembly 420 is slidably connected with the tissue forceps guide rail 430 through a sliding block, the extending direction of the tissue forceps guide rail 430 is consistent with the direction of the axis, the tissue forceps driving assembly 440 drives the tissue forceps 410 to reciprocate linearly along the tissue forceps guide rail 430 through the tissue forceps transmission assembly 420, and the tissue forceps transmission assembly 420 can be composed of a screw transmission pair.

In this way, the tissue forceps 410 is connected with the tissue forceps transmission assembly 420, the tissue forceps guide rail 430 is connected with the connecting seat 900, the tissue forceps transmission assembly 420 is slidably connected with the tissue forceps guide rail 430, the extending direction of the tissue forceps guide rail 430 is consistent with the direction of the axis, the moving direction of the tissue forceps transmission assembly 420 is consistent with the direction of the axis, the tissue forceps driving assembly 440 drives the tissue forceps 410 to move along the tissue forceps guide rail 430 through the tissue forceps transmission assembly 420, and therefore the movement of the tissue forceps 410 is guided by the tissue forceps guide rail 430, and the moving stability of the tissue forceps 410 is improved.

Optionally, as shown in fig. 7 to 9, the single-arm single-hole minimally invasive endoscopic surgery robot further includes a rotating arm 500, a connecting arm 600 and a supporting arm 700, the supporting arm 700 is connected with the instrument mounting base 800, two ends of the connecting arm 600 are respectively rotatably connected with ends of the rotating arm 500 and the supporting arm 700, and two rotation center lines of the rotating arm 500 and the supporting arm 700 respectively rotatably connected with the connecting arm 600 are both arranged at the same datum point 10 intersecting with the axis.

Specifically, the support arm 700 is connected to the instrument mount 800 through an integrated rotary joint, two ends of the connection arm 600 are respectively connected to the rotary arm 500 and an end of the support arm 700 through the integrated rotary joint, a rotation center line of the rotary arm 500 and the connection arm 600 are the second rotation center line 30, a rotation center line of the support arm 700 and the connection arm 600 are the third rotation center line 40, the second rotation center line 30 is vertically arranged, the third rotation center line 40 is located on the right side of the second rotation center line 30 and is obliquely arranged, an extension line of the first rotation center line 20 (axis), the second rotation center line 30 and the third rotation center line 40 is compared with the datum point 10, and the datum point 10 is always attached to an incision in the operation process.

In this way, the two ends of the connecting arm 600 are respectively connected with the ends of the rotating arm 500 and the supporting arm 700 in a rotating way through the supporting arm 700 and the instrument mounting seat 800, so that the instrument mounting seat 800 has multiple position adjustment degrees of freedom, two rotation center lines of the rotating arm 500 and the supporting arm 700 respectively connected with the connecting arm 600 in a rotating way are all intersected with the axis and arranged at the same datum point 10, the datum point 10 can be attached to an incision, and thus, during operation, the influence of the movement dislocation of the rotating arm 500, the connecting arm 600 and the supporting arm 700 on the operation process is avoided, and the positioning of the surgical instrument is facilitated, so that the operation stability is improved.

Optionally, as shown in connection with fig. 10 and 11, a stapling structure 810 is provided on instrument mount 800, and stapling structure 810 is rotatably coupled to each of knife 210, endoscope 110, needle holder 310, and tissue forceps 410.

Specifically, the stab structure 810 is connected with the end of the instrument mounting seat 800 through the stab bracket 811, the stab structure 810 is provided with an inner ring 812, the inner ring 812 is sleeved on the electric knife 210, the endoscope 110, the needle holder 310 and the tissue forceps 410, and the inner ring 812 can rotate in the stab structure 810.

In this way, through setting up the structure 810 of stabbing on the apparatus mount pad 800, the electric knife 210, the endoscope 110, the needle holder 310 and the tissue forceps 410 are all rotationally connected with the structure 810 of stabbing, so that the electric knife 210, the endoscope 110, the needle holder 310 and the tissue forceps 410 can all rotate on the structure 810 of stabbing, in this way, the structure 810 of stabbing can not only support the electric knife 210, the endoscope 110, the needle holder 310 and the tissue forceps 410, but also avoid the structure 810 of stabbing from interfering the rotation of the electric knife 210, the endoscope 110, the needle holder 310 and the tissue forceps 410, thereby facilitating the use of the structure 810 of stabbing.

Optionally, as shown in fig. 9 and fig. 12 to 14, the single-arm single-hole minimally invasive endoscopic surgery robot further includes a lifting stand 820 and a base 830, a tubular column 831 is disposed on the base 830, one end of the lifting stand 820 is rotatably connected with one end of the rotating arm 500, which is away from the connecting arm 600, and the other end extends into the tubular column 831 and is reciprocally moved in the tubular column 831 through a driving structure 840.

Specifically, the driving structure 840 includes a motor assembly 841, a ladder-shaped lead screw 842, a nut 843, and a connecting frame 844, the motor assembly 841 includes, but is not limited to, a driving motor and a motor mounting seat, the lifting stand 820 includes a stand body 822, the stand body 822 is rotatably connected with an end of the rotating arm 500 facing away from the connecting arm 600 through an integrated rotating joint and extends into the pipe column 831, the motor assembly 841 is connected with an end of the stand body 822 facing away from the rotating arm 500, the motor assembly 841 is in driving connection with an end of the ladder-shaped lead screw 842 through a coupling, the ladder-shaped lead screw 842 extends into the pipe column 843, the nut 843 is in driving connection with the ladder-shaped lead screw 842, the nut 843 is connected with the pipe column 831 through the connecting frame 844, and after the motor assembly 841 operates, rotation of the ladder-shaped lead screw 843 is converted into linear reciprocating movement of the stand body 822.

So, set up tubular column 831 through on the base 830, lift stand 820's one end and the one end rotation that the swinging boom 500 deviates from linking arm 600 are connected, and the other end stretches into tubular column 831 and sets up through driving structure 840 reciprocating motion in tubular column 831, and lift stand 820 realizes the altitude mixture control of swinging boom 500 to satisfy the user demand of not co-altitude, thereby improve the flexibility of single-arm single-hole wicresoft laparoscopic surgery robot.

Optionally, as shown in fig. 9 and 13, a sliding rail 832 is disposed in the pipe column 831, a sliding block 821 is disposed on the lifting stand 820, the sliding block 821 is slidably connected to the sliding rail 832, and an extending direction of the sliding rail 832 is consistent with a moving direction of the lifting stand 820.

Specifically, the sliding rail 832 is fixed on the portion of the pipe column 831 by a screw, the sliding block 821 is connected with the column body 822 by a screw, the extending direction of the sliding rail 832 is consistent with the moving direction of the lifting column 820, and the sliding block 821 is slidingly connected with the sliding rail 832, that is, the sliding block 821 slides on the sliding rail 832 during the moving process of the lifting column 820.

In this way, through setting up slide rail 832 in tubular column 831, set up slider 821 on the lift stand 820 for slider 821 can remove relative slide rail 832, and the extending direction of rethread slide rail 832 is unanimous with the direction of movement of lift stand 820, and slider 821 and slide rail 832 sliding connection, in the removal in-process of lift stand 820 relative tubular column 831, sliding connection between slider 821 and slide rail 832 is directed the removal of lift stand 820, thereby improves the mobility stability of lift stand 820.

Optionally, as shown in connection with fig. 9 and 12, an armrest 833 is further provided on the base 830.

Specifically, the armrest 833 is mounted on the column 831 by means of screws or welding, and further, a manipulation screen 834 may be provided on the armrest 833, which is not shown.

Thus, by providing the armrest 833 on the base 830, the armrest 833 provides a pushing position for facilitating the pushing of the medical staff.

Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.

Claims (10)

1. The utility model provides a single-arm single-hole minimally invasive endoscopic surgery robot, its characterized in that, including instrument mount pad (800) and connecting seat (900), connecting seat (900) with instrument mount pad (800) rotate and are connected, be provided with endoscope subassembly (100), electrotome operation subassembly (200), needle holder subassembly (300) and tissue pincers subassembly (400) on connecting seat (900), endoscope subassembly (100) electrotome operation subassembly (200 needle holder subassembly (300) with tissue pincers subassembly (400) are followed connecting seat (900) with the axis circumference of instrument mount pad (800) rotation junction distributes, endoscope subassembly (100) electrotome operation subassembly (200) needle holder subassembly (300) with tissue pincers subassembly (400) are all followed reciprocating motion in the direction at axis place sets up.

2. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 1, wherein the endoscope assembly (100) comprises an endoscope (110), an endoscope transmission assembly (120), an endoscope guide rail (130) and an endoscope driving assembly (140), the endoscope (110) is connected with the endoscope transmission assembly (120), the endoscope guide rail (130) is connected with the connection seat (900), the endoscope transmission assembly (120) is in sliding connection with the endoscope guide rail (130), the extending direction of the endoscope guide rail (130) is consistent with the direction of the axis, and the endoscope driving assembly (140) drives the endoscope (110) to move along the endoscope guide rail (130) through the endoscope transmission assembly (120).

3. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 1, wherein the electrotome surgical assembly (200) comprises an electrotome (210), an electrotome transmission assembly (220), an electrotome guide rail (230) and an electrotome driving assembly (240), the electrotome (210) is connected with the electrotome transmission assembly (220), the electrotome guide rail (230) is connected with the connecting seat (900), the electrotome transmission assembly (220) is in sliding connection with the electrotome guide rail (230), the extension direction of the electrotome guide rail (230) is consistent with the direction of the axis, and the electrotome driving assembly (240) drives the electrotome (210) to move along the electrotome guide rail (230) through the electrotome transmission assembly (220).

4. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 1, wherein the needle holder assembly (300) comprises a needle holder (310), a needle holder transmission assembly (320), a needle holder guide rail (330) and a needle holder driving assembly (340), the needle holder (310) is connected with the needle holder transmission assembly (320), the needle holder guide rail (330) is connected with the connection seat (900), the needle holder transmission assembly (320) is in sliding connection with the needle holder guide rail (330), the extending direction of the needle holder guide rail (330) is consistent with the direction of the axis, and the needle holder driving assembly (340) drives the needle holder (310) to move along the needle holder guide rail (330) through the needle holder transmission assembly (320).

5. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 1, wherein the tissue clamp assembly (400) comprises a tissue clamp (410), a tissue clamp transmission assembly (420), a tissue clamp guide rail (430) and a tissue clamp driving assembly (440), the tissue clamp (410) is connected with the tissue clamp transmission assembly (420), the tissue clamp guide rail (430) is connected with the connecting seat (900), the tissue clamp transmission assembly (420) is in sliding connection with the tissue clamp guide rail (430), the extending direction of the tissue clamp guide rail (430) is consistent with the direction of the axis, and the tissue clamp driving assembly (440) drives the tissue clamp (410) to move along the tissue clamp guide rail (430) through the tissue clamp transmission assembly (420).

6. The single-arm single-hole minimally invasive endoscopic surgical robot of any of claims 1-5, further comprising a rotating arm (500), a connecting arm (600) and a supporting arm (700), the supporting arm (700) is connected with the instrument mount (800), both ends of the connecting arm (600) are respectively rotatably connected with the ends of the rotating arm (500) and the supporting arm (700), and two rotation center lines of the rotating arm (500) and the supporting arm (700) respectively rotatably connected with the connecting arm (600) are both disposed intersecting the axis at the same reference point (10).

7. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 6, wherein a poking structure (810) is provided on the instrument mount (800), and the electric knife (210), the endoscope (110), the needle holder (310) and the tissue forceps (410) are all rotatably connected with the poking structure (810).

8. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 6, further comprising a lifting column (820) and a base (830), wherein a column (831) is arranged on the base (830), one end of the lifting column (820) is rotatably connected with one end of the rotating arm (500) deviating from the connecting arm (600), and the other end extends into the column (831) and is arranged in the column (831) in a reciprocating manner through a driving structure (840).

9. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 8, wherein a sliding rail (832) is arranged in the tubular column (831), a sliding block (821) is arranged on the lifting upright (820), the sliding block (821) is in sliding connection with the sliding rail (832), and the extending direction of the sliding rail (832) is consistent with the moving direction of the lifting upright (820).

10. The single-arm single-hole minimally invasive endoscopic surgical robot of claim 8, wherein an armrest (833) is further provided on the base (830).

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