CN213310264U

CN213310264U - Surgical robot system

Info

Publication number: CN213310264U
Application number: CN202021300630.8U
Authority: CN
Inventors: 张学斌; 李汉忠
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2021-06-01
Anticipated expiration: 2030-07-06

Abstract

A surgical robotic system comprising a surgical robotic device, a surgical monitoring device, and a surgical control device; the surgical robot device comprises a mechanical arm, an operator and a surgical robot executor, wherein the surgical robot executor is used for connecting and fixing the operator on the mechanical arm; the surgical robot executor comprises an executor body, a driving system and a fixing system; the actuator body is configured to provide mounting locations and spaces for the drive system, the fixation system, and the operator; the driving system is configured to drive the manipulator to reciprocate so as to push the tail end of the manipulator to perform a surgical operation; the securing system is configured to secure the operator to the actuator body.

Description

Surgical robot system

Technical Field

The utility model belongs to the technical field of medical instrument. In particular to a surgical robot system.

Background

Surgical robotic systems are currently one of the most widely used, and promising, segments of medical robotics. The surgical robot system overcomes many defects of the traditional surgical operation, including poor precision, long operation time, fatigue of doctors, lack of three-dimensional precision visual field and the like, brings better clinical outcome to patients, and greatly shortens the learning process of the doctors to the complex operation.

Percutaneous nephrolithotomy (PCNL) is performed by locating a target renal calyx by ultrasound or X-ray, puncturing and entering the target renal calyx in real time, establishing a channel between a percutaneous incision and the kidney, and placing a lithotripsy energy platform through the channel to perform lithotripsy treatment. Is one of the main methods for treating kidney stones and upper ureteral stones. It has small operation wound, high calculus removing rate and fast postoperative recovery. The key point of PCNL is accurate positioning and precise puncturing, which is also a difficulty. The learning curve is long and difficult to master. And can easily damage adjacent organs such as pleura, lung, intestinal tract, liver and spleen. Among the many surgical procedures, percutaneous nephrolithotripsy is one of the most urgent surgical procedures requiring the application of a surgical robotic system.

SUMMERY OF THE UTILITY MODEL

Conventional percutaneous nephrolithotripsy (PCNL) presents several risks. For example, during percutaneous nephrolithotomy, severe complications such as massive hemorrhage or damage to adjacent organs such as pleura, lung, intestinal tract, liver and spleen may be caused by inaccurate puncture site, improper channel expansion process, and too deep puncture. In addition, the operation time is long, and bacteria and toxin are absorbed due to high perfusion pressure during the operation, which may cause postoperative infection. Serious complications as described above may even endanger the life of the patient.

Therefore, the puncture precision is improved, the standardization of the channel establishment and the lithotripsy operation process is improved, the operation intensity of doctors is reduced, and the occurrence of complications of patients in and after operations is reduced.

Surgical robotics assist surgeons in solving the above problems. However, there is currently a lack of reliable, easy-to-use surgical robotic systems and surgical robotic effectors to replace physicians performing percutaneous nephrolithotripsy.

In view of this, the embodiment of the present invention provides a surgical robot actuator and a surgical robot system using the same. In particular, the surgical robot actuator and the surgical robot system using the same are suitable for percutaneous nephroscope surgery.

The embodiment of the utility model provides a surgical robot system, which comprises a surgical robot device, a surgical monitoring device and a surgical control device;

the surgical robot device comprises a mechanical arm, an operator and a surgical robot executor, wherein the surgical robot executor is connected with and fixed on the mechanical arm;

the surgical robot actuator comprises an actuator body, a driving system and a fixing system;

the actuator body is configured to provide mounting locations and spaces for the drive system, the fixation system, and the operator;

the driving system is configured to drive the manipulator to reciprocate so as to push the manipulator tail end to perform a surgical operation;

the securing system is configured to secure the operator to the actuator body;

the operation monitoring device is connected with the operation control device and is configured to acquire an operation implementation position in real time, send information of the operation implementation position to the operation control device and display the information of the operation implementation position to an operator in an image form;

the operation control device is configured to obtain the lesion position scanning data from an external scanning device, establish a three-dimensional model according to the lesion position scanning data, generate an operation control instruction according to the three-dimensional model, send the operation control instruction to the operation robot device, and execute an operation by the operation robot device.

According to an embodiment of the present invention, for example, the actuator body includes an upper platform (1) and a lower groove (45), the upper platform (1) and the lower groove (45) enclose and define an accommodating chamber having an opening at a lower bottom thereof, and the accommodating chamber provides an accommodating space for each component of the surgical robot actuator; the upper platform (1) is flat, and is provided with a V-shaped mounting seat (38) for mounting the mirror body, so that a mounting position is provided for the mirror body.

According to an embodiment of the invention, for example, the actuator body further comprises a sealing element, by means of which the upper platform (1) and the lower groove (45) are sealingly connected;

the actuator body is provided with a shield (6) at the far end, when the upper platform (1) moves, the shield (6) seals the exposed part of the upper platform (1) to prevent the body fluid or the medical reagent of the patient from entering the lower groove (45).

According to an embodiment of the invention, for example, the drive system comprises an optical fiber drive system and a platform drive system; the optical fiber driving system comprises a first motor (7), a first motor base (8) and a transmission device; the first motor (7) is fixedly arranged on the upper platform (1) through the first motor base (8); the first motor (7) provides power for the movement of the optical fiber; the first motor (7) is a servo motor.

According to an embodiment of the invention, for example, the transmission comprises a first lead screw nut (12), a first lead screw (13), a slide rail (17) and a slide block (43); the first lead screw (13) can rotate towards the positive direction and the negative direction under the driving of the first motor (7), and the first lead screw (13) drives the first lead screw nut (12) to axially reciprocate along the first lead screw (13) when rotating; the optical fiber driving system is connected with an optical fiber clamping seat (5) on a baffle (37) through a lead screw nut seat (10), transmits the linear motion of the first lead screw nut (12) to the optical fiber clamping seat (5), and pushes an optical fiber (41) to complete reciprocating motion.

According to an embodiment of the present invention, for example, a guide bar (15) is further provided to guide the screw and nut seat (10) to perform a linear motion, preventing the rotation, thereby pushing the optical fiber (41) to perform a reciprocating motion; the platform driving system comprises a second motor (18), a second motor base (19), a coupling (20) and a transmission device; the second motor (18), the second motor base (19) and the transmission device are arranged beside the optical fiber (41); the second motor (18) is fixedly arranged on the low groove (45) by the second motor base (19); the second motor (18) powers movement of the surgical robotic effector component; the second motor (18) is a servo motor; the transmission device comprises a second lead screw (25), a nut mounting seat (27) and a second lead screw nut (28).

According to an embodiment of the present invention, for example, the coupling (20) connects the second motor (18) and the second lead screw (25), the second lead screw nut (28) converts the rotation motion of the second lead screw (25) into a linear motion, and transmits the linear motion to the upper platform (1) through the nut mounting seat (27), and the second lead screw (25) is driven by the second motor (18) to rotate in forward and reverse directions, so as to drive the upper platform (1) to perform an axial reciprocating motion; a third mounting seat (23) and a fourth mounting seat (30) are arranged on the other side, opposite to the first lead screw nut (12) and the first lead screw (13), of the actuator body, the first bearing seat (22) is fixedly mounted on the low groove (45) through the third mounting seat (23), and the second bearing seat (29) is fixedly mounted on the low groove (45) through the fourth mounting seat (30); one end of the second lead screw (25) is locked and fixed on the first bearing block (22) through a lead screw locking nut (21), and the other end of the second lead screw is installed on the second bearing block (29) through a second lead screw nut (28); the platform driving system is fixedly connected in the low groove (45) through the third mounting seat (23) and the fourth mounting seat (30).

According to an embodiment of the present invention, for example, the surgical robot system further includes a percutaneous nephroscope manipulator (2), the percutaneous nephroscope manipulator (2) includes a scope body (200), a scope body (201), the end connection of the scope body (200) is the scope body (201), the scope body (200) and the scope body (201) is provided with a mutually communicated lumen therein, the scope body (201) is provided with an observation port (2011), an operation channel (2012), a water inlet valve (2013) and a light source inlet (2014).

According to an embodiment of the invention, for example, the fixation system comprises an optical fiber fixation system and an operator fixation system;

the optical fiber fixing system comprises a first compression nut (3), a clamping plate (4), a clamping seat (5), a drag chain (31) and a drag chain mounting seat (32); the clamping seat (5) is fixedly arranged on a baffle (37) of the upper platform (1), the first compression nut (3) is connected with the clamping seat (5) through threads, and the first compression nut (3) is rotated to enable the clamping plate (4) to be attached to the clamping seat (5) so as to clamp and fix the optical fiber; the drag chain (31) and the drag chain mounting seat (32) are positioned in the cavity of the low groove (45), one end of the drag chain (31) is fixed on the upper platform (1) by the drag chain mounting seat (32), and the drag chain (31) is used for wiring cables to avoid cable winding;

the manipulator fixing system comprises a V-shaped mounting seat (38), a second compression nut (39), a radial compression plate (40) and an axial compression plate (42); the second compression nut (39) is matched with the radial compression plate (40) and the first lead screw nut (12) to fixedly compress the lens body (201) on the V-shaped mounting seat (38), the radial compression plate (40) compresses the lens body (201) to prevent the lens body (201) from moving radially, and the axial compression plate (42) compresses the lens body (201) to prevent the lens body (201) from moving axially; the radial compression plate (40) and the axial compression plate (42) can clasp the lens body (201), so that the lens body (201) is limited to move towards a direction of separating from the surface of a shell of a surgical robot actuator.

According to an embodiment of the present invention, for example, the actuator main body further includes a first mounting seat (9), a second mounting seat (14), a third mounting seat (23), and a fourth mounting seat (30), the first mounting seat (9) and the second mounting seat (14) are disposed on one side of the actuator main body, and the first mounting seat (9) and the second mounting seat (14) are fixedly connected to the upper platform (1); two ends of the first lead screw (13) are respectively arranged on the first mounting seat (9) and the second mounting seat (14);

a first travel switch and a second travel switch are respectively arranged between the first mounting seat (9) and the second mounting seat (14) and between the third mounting seat (23) and the fourth mounting seat (30), and the first travel switches are configured to control the limit travel of the first lead screw nut (12) between the first mounting seat (9) and the second mounting seat (14) and avoid the first lead screw nut (12) from impacting the first mounting seat (9) and the second mounting seat (14); the second travel switch is used for controlling the limit travel of the second lead screw nut (28) between the third mounting seat (23) and the fourth mounting seat (30) and preventing the second lead screw nut (28) from impacting the third mounting seat (23) and the fourth mounting seat (30);

the second travel switch is composed of a photoelectric switch (24), an optical fiber travel light blocking sheet (11) and a platform travel light blocking sheet (26).

Drawings

Fig. 1 is a schematic view of a surgical robot system according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a surgical robot device according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a percutaneous nephroscope manipulator known in the art.

Fig. 4 is a schematic structural diagram of a surgical robot actuator according to an embodiment of the present invention.

Fig. 5 is a side view of the exterior of the actuator body (top view) and a top view of the interior of the actuator body (bottom view) of the surgical robot actuator according to the embodiment of the present invention, wherein the bottom view is a sectional view along the line B-B of the top view.

Fig. 6 is a side view of the internal structure of the actuator body of the surgical robot actuator according to the embodiment of the present invention, i.e., a sectional structure view taken along D-D of fig. 7.

Fig. 7 is a top view of a surgical robotic effector according to an embodiment of the present invention.

Fig. 8 is a bottom view of a surgical robot actuator according to an embodiment of the present invention.

Fig. 9 is a rear view of a surgical robot actuator according to an embodiment of the present invention.

Fig. 10 is a structural view of the surgical robot actuator according to the embodiment of the present invention, taken along the line E-E of fig. 8.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following embodiments.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc. are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only to distinguish technical features, have no essential meaning, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features.

Example 1

Fig. 1 is a schematic structural diagram of a surgical robot system provided in this embodiment 1. In particular, the surgical robot system of the present embodiment may be suitable for a surgeon to perform a percutaneous nephrolithotomy. As shown in fig. 1, the surgical robot system includes: a surgical robotic device 001, a surgical monitoring device 002, and a surgical control device 003.

The surgical robot 001 is connected to a surgical control device 003, and performs a puncture operation (for example, percutaneous renal puncture) according to a puncture path, a channel expansion, and a lithotripsy operation in accordance with a surgical control command transmitted from the surgical control device 003.

The operation monitoring device 002 is connected to the operation control device 003, scans the current operation implementation position in real time during an operation, sends the acquired scan data of the current operation implementation position to the operation control device 003, and displays the scan data in the form of an image to an operator (e.g., a doctor).

The operation control device 003 acquires operation site (for example, kidney) scanning data from an external scanning device, and establishes a three-dimensional model of a lesion site (for example, kidney and stone) according to the operation site scanning data; according to the matching result of the three-dimensional model and the preset model, a puncture path is determined, navigation information is determined according to the puncture path and the scanning data, a surgical control instruction is generated according to the navigation information and sent to the surgical robot device 001, and the surgical operation is executed by the surgical robot device 001.

Before the operation is performed, the lesion (for example, kidney) of the patient is scanned by the external scanning device, and then the scanning data obtained by the scanning of the external scanning device is acquired by the operation control device 003, so as to establish a three-dimensional model of the lesion (for example, kidney and stone) of the patient. For example, the surgical control apparatus 003 may be a computer device and is installed with software for creating a three-dimensional model based on scan data, and the external scanning apparatus may be at least one of a magnetic resonance examination apparatus, an electronic computed tomography apparatus, and an ultrasound scanning apparatus. After the three-dimensional model is established, the three-dimensional model can be displayed to a doctor through a display connected with the operation control device 003 so that the doctor can determine an operation scheme according to the three-dimensional model, operation planning and simulation pre-puncture verification are performed through computer software, a puncture path for performing an operation on a patient is input through input equipment (such as a mouse and a keyboard) configured in the operation control device 003, and software can be formulated through the operation scheme installed in the operation control device 003 so that the puncture path is determined according to the three-dimensional model and a pre-stored operation model. Thereafter, the physician is required to confirm the software-derived protocol, or modify the software-derived protocol. The surgical control device 003 determines navigation information for performing puncture or lithotripsy according to a set puncture path and the scan data transmitted by the surgical monitoring device 002, and transmits a surgical control instruction to the surgical robot device 001, and the resection device provided in the surgical robot device 001 probes into a preset surgical position of a lesion (for example, a kidney) according to the puncture path, completes puncture and dilation of a channel, and then performs lithotripsy.

Optionally, the surgical robot 001 and the surgical control device 003 may be connected wirelessly, so that the surgeon can set a surgical plan at the end of the surgical control device 003 to monitor the procedure. The surgical robot device 001 and the surgical control device 003 are more flexibly placed on the position, so that a doctor does not need to sit at a position close to a patient to perform surgery, and the operating environment of the doctor is improved.

According to the above, the utility model discloses the technical scheme that above-mentioned embodiment 1 provided carries out three-dimensional modeling through the pathological change position to the patient (for example, the kidney), and predetermine the puncture route, solved the not enough problem that leads to the location difficulty of surgeon experience, the puncture success rate is not high, through accurate puncture and the rubble of navigation guide, blood vessel damage has been avoided, the hemorrhage greatly and close on the tissue damage, the operation security has been improved, avoided the stone to omit, the stone clearing rate has been improved, blood urine pollution has been avoided, operation environment and operator's comfort level has been improved.

Example 2

Fig. 2 shows a further configuration of the surgical robotic device 001. As shown in fig. 2, the surgical robotic device 001 includes a robotic arm 0011, a manipulator 2 (e.g., a percutaneous nephroscope manipulator), and a surgical robotic effector 0012 connecting the robotic arm 0011 and the manipulator 2.

Referring to fig. 3, a typical manipulator 2 (for example, a percutaneous nephroscope manipulator) includes a scope body 200 and a scope body 201, the end of the scope body is connected to the scope body 201, lumens communicated with each other are disposed in the scope body 200 and the scope body 201, and the scope body 201 is provided with a viewing port 2011, an operation channel 2012, a water inlet valve 2013 and a light source inlet 2014. When the manipulator is used for performing an operation, a doctor holds the endoscope body to operate beside the body of a patient, and the body fluid of the patient is easily polluted; secondly, the operation effect is greatly influenced by individual doctors, the accuracy and safety of the operation are difficult to ensure, the standardization and the normalization of the operation cannot be realized, and complications such as bleeding caused by puncturing and damaging adjacent organs or large blood vessels can occur if the experience of the doctors is insufficient.

Referring to fig. 4 to 10, an embodiment of the present invention provides a surgical robot actuator (e.g., a percutaneous nephroscope surgical robot actuator) capable of connecting a mechanical arm of a surgical robot and an operator 2 to perform a surgical operation (e.g., percutaneous nephroscope lithotripsy), and perform a lithotripsy and stone extraction operation on kidney stones or upper ureteral stones.

The surgical robotic effector includes an effector body, a drive system, and a fixation system. The actuator body comprises an upper platform 1 and a lower groove 45 (see figures 3 and 8), and the percutaneous nephroscope operation manipulator 2 is fixed on the upper platform 1 and is powered by a driving system to perform linear reciprocating motion. The lower slot 45 accommodates components of the surgical robotic actuator, such as motors, actuators, electrical components, and the like. The driving system is used for driving the percutaneous nephroscope operation manipulator to reciprocate so as to push the tail end of the manipulator to perform operations such as puncture, channel expansion, stone breaking and removal and the like. The fixing system is used for fixing the percutaneous nephroscope operation manipulator on the actuator body.

Therefore, the reciprocating motion (i.e. the action of breaking and removing stones) of the percutaneous nephroscope surgical manipulator is driven by the surgical robot actuator, and other actions (such as position adjustment, posture adjustment, rotation and the like) of the percutaneous nephroscope surgical manipulator are driven by the mechanical arm of the surgical robot to drive the percutaneous nephroscope to complete the percutaneous nephroscope operation, and taking rotation as an example, the rotation operation of the percutaneous nephroscope actuator such as a stone-covering basket can be realized by rotating the surgical robot actuator.

The actuator body comprises an upper platform 1 and a lower groove 45, the upper platform 1 and the lower groove 45 are enclosed to define an accommodating cavity with an opening at the bottom, and the opening at the bottom of the actuator body can be closed by a connecting system for connecting mechanical arms of a surgical robot.

The upper platform 1 is approximately in a flat plate shape, is provided with a V-shaped mounting seat 38 for mounting the mirror body 201, and provides a mounting position for the mirror body 201; an opening (not shown in the figure and located below the baffle 37) is formed in the optical fiber driving system, the optical fiber driving system is connected with the optical fiber clamping seat 5 on the baffle 37 (see fig. 7) through the lead screw nut seat 10 (see fig. 5), the linear motion of the first lead screw nut 12 is transmitted to the optical fiber clamping seat 5, and the optical fiber 41 is pushed to complete the reciprocating motion.

The lower groove 45 is surrounded by a bottom plate, two opposite side plates and a near end wall plate to form a groove-shaped structure with an opening on the bottom plate. The bottom opening of the lower trough 45 may be closed by a connection system for connecting the robot arms of the surgical robot.

The upper platform 1 and the lower groove 45 are fixedly and hermetically connected, for example, a sealing member, such as a sealing ring, is arranged at the joint of the upper platform and the lower groove 45. The sealed connection prevents body fluids, medical reagents (e.g., irrigation fluids), etc. from splashing into the lower well 45 and damaging components mounted in the lower well 45. The distal end of the actuator body is provided with a shutter 6 (see fig. 5) which seals the exposed portion of the upper platform when the upper platform is moved, preventing the patient's body fluids or medical agents from entering the interior of the lower well 45.

The drive system comprises an optical fiber drive system and a platform drive system which are arranged in parallel in the shell.

The optical fiber driving system comprises a motor 7, a motor base 8 and a transmission device. The motor 7, the motor base 8 and the transmission device are arranged in the shell. The motor 7 is fixedly arranged on the upper platform 1 by a motor base 8. The motor 7 powers the movement of the optical fibre. Preferably, the motor 7 is a servo motor. The transmission includes a first lead screw nut 12, a first lead screw 13, a slide rail 17, and a slider 43 (see fig. 10). The first lead screw 13 can rotate towards the positive direction and the negative direction under the driving of the motor 7, and the first lead screw 13 drives the first lead screw nut 12 to perform axial reciprocating motion along the first lead screw 13 when rotating.

Referring to fig. 5, 7 and 9, the transmission device of the optical fiber driving system is connected to the optical fiber clamping seat 5 on the baffle 37 through the lead screw nut seat 10, and transmits the linear motion of the first lead screw nut 12 to the optical fiber clamping seat 5, wherein the guide strip 15 guides the lead screw nut seat 10 to perform linear motion, preventing rotation, thereby pushing the optical fiber 41 to complete the reciprocating motion.

Referring to fig. 5, a first mounting seat 9 and a second mounting seat 14 are arranged on one side of the actuator body, and the first mounting seat 9 and the second mounting seat 14 are fixedly connected with the upper platform 1. Two ends of the first lead screw 13 are respectively arranged on the first mounting seat 9 and the second mounting seat 14.

Referring to fig. 5, the platform drive system includes a motor 18, a motor mount 19, a coupling 20, and a transmission. The motor 18, the motor base 19 and the transmission are arranged beside the optical fiber system. The motor 18 is fixedly mounted on the lower groove 45 by a motor support 19. A motor 18 powers the movement of the platform. Preferably, the motor 18 is a servo motor. The transmission comprises a second lead screw 25, a nut mount 27 and a second lead screw nut 28. The coupling 20 connects the motor 18 and the second lead screw 25, and the second lead screw nut 28 converts the rotational motion of the second lead screw 25 into a linear motion, which is transmitted to the upper platform 1 through the nut mounting seat 27. The second lead screw 25 is driven by the motor 18 to rotate in the forward and reverse directions, so as to drive the upper platform 1 to axially reciprocate.

Referring to fig. 5, the other side of the actuator body is provided with a third mounting seat 23 and a fourth mounting seat 30, the third mounting seat 23 fixedly mounts the first bearing seat 22 on the lower groove 45, and the fourth mounting seat 30 fixedly mounts the second bearing seat 29 on the lower groove 45. One end of the second lead screw 25 is locked and fixed on the first bearing block 22 through a lead screw locking nut 21, and the other end is mounted on a second bearing block 29 through a second lead screw nut 28. The platform driving system is fixedly connected in the lower groove 45 by the third mounting seat 23 and the fourth mounting seat 30.

Referring to fig. 5, a first travel switch (not shown in the figure) and a second travel switch (composed of a photoelectric switch 24, an optical fiber travel light blocking sheet 11, and a platform travel light blocking sheet 26) are respectively arranged between the first mounting seat 9 and the second mounting seat 14, and between the third mounting seat 23 and the fourth mounting seat 30, and the first travel switch is used for controlling the limit travel of the first lead screw nut 12 between the first mounting seat 9 and the second mounting seat 14, so as to prevent the first lead screw nut 12 from impacting the first mounting seat 9 and the second mounting seat 14; the second travel switch is used to control the limit travel of the second lead screw nut 28 between the third mount 23 and the fourth mount 30. The second lead screw nut 28 is prevented from hitting the third mount 23 and the fourth mount 30.

Therefore, the upper platform 1 is connected with the platform support 16 and then connected with the slide block 43, and slides along the guide rail under the driving of the motor 18, so as to drive the manipulator 2 (fig. 3) (for example, a percutaneous nephroscope manipulator) to perform puncture, channel expansion and other surgical operations; the optical fiber 41 is fixed on the upper platform 1, and the motor 7 carried on the upper platform 1 drives the optical fiber 41 to move back and forth, so as to complete the operation of breaking stones, fetching stones and the like.

A fixation system for securing the optical fiber 41 and the percutaneous nephroscope surgical manipulator 2 (fig. 3) to the surgical robot actuator includes an optical fiber fixation system and a percutaneous nephroscope surgical manipulator fixation system.

The optical fibre fixing system comprises a first gland nut 3, a clamping plate 4, a clamping shoe 5, a drag chain 31 and a drag chain mounting shoe 32 (see figures 4, 6 and 9). The clamping seat 5 is fixedly installed on the baffle 37 of the upper platform 1, the first compression nut 3 is in threaded connection with the clamping seat 5, and the first compression nut 3 is rotated to enable the clamping plate 4 to be attached to the clamping seat 5, so that the optical fibers are clamped and fixed (see the attached drawing 4). The drag chain 31 and the drag chain mounting seat 32 are positioned in the cavity of the low groove 45, the drag chain mounting seat 32 fixes one end of the drag chain 31 on the upper platform 1, and the drag chain 31 is used for routing cables, so that the cables are prevented from being wound (see figure 6).

Referring to fig. 4, 5 and 7, the percutaneous nephroscopic surgical operator fixation system includes a V-shaped mount 38, a second compression nut 39, a radial compression plate 40 and an axial compression plate 42. The second compression nut 39 is matched with the radial compression plate 40 and the first lead screw nut 12 to fixedly compress the lens body 201 on the V-shaped mounting seat 38, the radial compression plate 40 compresses the lens body 201 to prevent the lens body 201 from moving radially, and the axial compression plate 42 compresses the lens body 201 to prevent the lens body 201 from moving axially. The radial compression plate 40 and the axial compression plate 42 are configured to grip the scope 201, thereby limiting movement of the scope 201 away from the housing surface of the surgical implement.

The mounting seat is composed of a hollow thread quick-change adjusting plate 33, a hollow thread quick-change head 34, a hollow thread quick-change locking ring 35, a hollow thread quick-change seat 36 and a quick-change positioning pin 44, and is used for connecting the surgical robot actuator with the surgical robot mechanical arm, wherein the quick-change positioning pin 44 is used for fixing the hollow thread quick-change head 34 and the hollow thread quick-change seat 36, and relative rotation is avoided. The mechanical arm of the surgical robot has a plurality of degrees of freedom, and can complete the actions of the surgical robot actuator such as position adjustment, posture adjustment and rotation, and the actions of the percutaneous nephroscope are controlled by controlling the actions of the surgical robot actuator. The connection system can be detachably connected by adopting various connection modes in the prior art. The other electrical components and connection systems described above can all be adapted using well established solutions in the art.

In operation, the utility model discloses surgical robot executor can be stable, firmly connect surgical robot's arm and surgical instruments, for example percutaneous nephroscope, under control system's control, by the linear motion of surgical robot executor control percutaneous nephroscope operation manipulator 2, through the whole motion of mechanical arm control surgical robot executor and then the position and the gesture of the manipulator of control percutaneous nephroscope to realize automatic operation process.

Claims

1. A surgical robotic system, comprising a surgical robotic device, a surgical monitoring device, and a surgical control device;

the securing system is configured to secure the operator to the actuator body;

the surgical control device is configured to obtain lesion position scanning data from an external scanning device, establish a three-dimensional model according to the lesion position scanning data, generate a surgical control instruction according to the three-dimensional model, send the surgical control instruction to the surgical robot device, and execute surgical operation by the surgical robot device.

2. The surgical robot system according to claim 1, wherein the actuator body comprises an upper platform (1) and a lower groove (45), the upper platform (1) and the lower groove (45) enclose a containing cavity with an opening at the lower part, and the containing cavity provides a containing space for each component of the surgical robot actuator; the upper platform (1) is flat, and is provided with a V-shaped mounting seat (38) for mounting the mirror body, so that a mounting position is provided for the mirror body.

3. The surgical robotic system as claimed in claim 2, wherein the effector body further comprises a seal by which the upper platform (1) and the lower groove (45) are sealingly connected;

4. A surgical robotic system as claimed in claim 2, wherein the drive system comprises a fiber drive system and a platform drive system;

the optical fiber driving system comprises a first motor (7), a first motor base (8) and a transmission device; the first motor (7) is fixedly arranged on the upper platform (1) through the first motor base (8); the first motor (7) provides power for the movement of the optical fiber; the first motor (7) is a servo motor.

5. Surgical robotic system according to claim 4, characterized in that the transmission means comprise a first lead screw nut (12), a first lead screw (13), a slide rail (17) and a slider (43); the first lead screw (13) can rotate towards the positive direction and the negative direction under the driving of the first motor (7), and the first lead screw (13) drives the first lead screw nut (12) to axially reciprocate along the first lead screw (13) when rotating; the optical fiber driving system is connected with an optical fiber clamping seat (5) on a baffle (37) through a lead screw nut seat (10), transmits the linear motion of the first lead screw nut (12) to the optical fiber clamping seat (5), and pushes an optical fiber (41) to complete reciprocating motion.

6. A surgical robotic system as claimed in claim 5, characterized in that a guide bar (15) is further provided to guide the screw-nut carriage (10) in a linear movement, preventing rotation, thereby pushing the optical fiber (41) to perform a reciprocating movement; the platform driving system comprises a second motor (18), a second motor base (19), a coupling (20) and a transmission device; the second motor (18), the second motor base (19) and the transmission device are arranged beside the optical fiber (41); the second motor (18) is fixedly arranged on the low groove (45) by the second motor base (19); the second motor (18) powers movement of the surgical robotic effector component; the second motor (18) is a servo motor; the transmission device comprises a second lead screw (25), a nut mounting seat (27) and a second lead screw nut (28).

7. The surgical robot system according to claim 6, wherein the coupling (20) is connected to the second motor (18) and the second lead screw (25), the second lead screw nut (28) converts the rotational motion of the second lead screw (25) into a linear motion, the linear motion is transmitted to the upper platform (1) through a nut mounting seat (27), and the second lead screw (25) is driven by the second motor (18) to rotate in the forward and reverse directions to drive the upper platform (1) to axially reciprocate; a third mounting seat (23) and a fourth mounting seat (30) are arranged on the other side, opposite to the first lead screw nut (12) and the first lead screw (13), of the actuator body, the first bearing seat (22) is fixedly mounted on the low groove (45) through the third mounting seat (23), and the second bearing seat (29) is fixedly mounted on the low groove (45) through the fourth mounting seat (30); one end of the second lead screw (25) is locked and fixed on the first bearing block (22) through a lead screw locking nut (21), and the other end of the second lead screw is installed on the second bearing block (29) through a second lead screw nut (28); the platform driving system is fixedly connected in the low groove (45) through the third mounting seat (23) and the fourth mounting seat (30).

8. The surgical robot system according to any one of claims 1 to 3, further comprising a percutaneous nephroscope manipulator (2), wherein the percutaneous nephroscope manipulator (2) comprises a scope body (200) and a scope body (201), the tail end of the scope body (200) is connected with the scope body (201), mutually communicated lumens are arranged in the scope body (200) and the scope body (201), and a viewing port (2011), an operation channel (2012), a water inlet valve (2013) and a light source inlet (2014) are arranged on the scope body (201).

9. A surgical robotic system as claimed in claim 5, wherein the securing system comprises a fiber securing system and a manipulator securing system;

10. The surgical robotic system according to claim 6, characterized in that the effector body further comprises a first mounting seat (9), a second mounting seat (14), a third mounting seat (23) and a fourth mounting seat (30), the first mounting seat (9) and the second mounting seat (14) are arranged on one side of the effector body, and the first mounting seat (9) and the second mounting seat (14) are fixedly connected with the upper platform (1); two ends of the first lead screw (13) are respectively arranged on the first mounting seat (9) and the second mounting seat (14);