CN213697187U - Adaptive fixator and surgical robot - Google Patents

Abstract

The utility model relates to an adaptation fixer and surgical robot. The fitting holder includes a fixing portion and a fitting portion. The fixing part is connected with the operation mechanical arm. The adapting part is connected with the fixing part. A plurality of through holes are formed in the adaptation part and penetrate through the adaptation part, and surgical instruments are allowed to penetrate through the through holes. Above-mentioned adaptation fixer and surgical robot integrate fixed part and adaptation portion into a whole, have avoided the dismantlement repeatedly between adaptation portion and the fixed part, and then have reduced the complex operation degree of adaptation fixer, have guaranteed the connection precision between adaptation portion and the fixed part. The plurality of through holes can allow a plurality of surgical instruments to pass through respectively, the matching adapting part and the fixing part which are frequently used for replacing the surgical instruments are not needed, and the preoperative preparation time is effectively saved.

Description

Adaptive fixator and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to adaptation fixer and surgical robot.

Background

With the development of automatic control technology, minimally invasive surgery or general surgery performed by means of a surgical robot is becoming more and more common in hospitals. When using surgical robot to carry out neurosurgery, general surgical robot need install the fixer at the arm end at first, then install the adapter on the fixer, penetrate patient's brain through the working channel on the adapter with surgical instruments at last, and the installation is loaded down with trivial details. Moreover, the general adapter can only be adapted to a surgical instrument with a certain size, and the adapter needs to be replaced according to different instruments used in the operation, so that the preoperative preparation time is prolonged. The multiple replacement of the adapter also reduces the mounting accuracy between the adapter and the holder, thereby affecting the surgical accuracy.

SUMMERY OF THE UTILITY MODEL

Accordingly, it is necessary to provide an adaptive fixator and a surgical robot which are convenient and fast to install, high in accuracy and short in preoperative preparation time, in order to solve the problems of complicated installation process, long preoperative preparation time and low installation accuracy of a general surgical robot.

An adaptive fixer comprises a fixing part and an adaptive part, wherein,

the fixing part is connected with the surgical mechanical arm;

the adapting part is connected with the fixing part;

a plurality of through holes are formed in the adaptation part and penetrate through the adaptation part, and surgical instruments are allowed to penetrate through the through holes.

In one embodiment, the through holes are distributed in a circumferential array around the rotation center of the adapting part, and the adapting part can rotate relative to the fixing part and adjust the set through holes to different working positions.

In one embodiment, the adaptive fixer further comprises a driving part, the driving part is arranged between the fixing part and the adaptive part and connected with the adaptive part, and the driving part drives the adaptive part to rotate so as to drive the set through hole to rotate to different working positions.

In one embodiment, the adapting part comprises an adapting rotary disc and an adapting rotary shaft, one end of the adapting rotary shaft is connected with the driving part, and the adapting rotary disc is fixedly arranged at the other end of the adapting rotary shaft, which is far away from the fixing part; the through holes are respectively formed in the adaptive rotary table; the fixing part comprises a fixing base and a fixing shaft, the fixing base is fixedly arranged at one end of the fixing shaft, and the fixing base is used for being fixedly connected with the surgical mechanical arm; the adaptation pivot set up in the fixed axle is kept away from fixed baseplate's the other end.

In one embodiment, an accommodating cavity is formed in the fixed shaft, one end, far away from the adaptive rotary disc, of the adaptive rotary shaft penetrates into the accommodating cavity, and a bearing is arranged between the adaptive rotary shaft and the inner side wall of the accommodating cavity; the driving part comprises a motor and a coupler, the motor is fixedly arranged in the accommodating cavity, and the coupler is in transmission connection with the adaptive rotating shaft and an output shaft of the motor.

In one embodiment, the adaptive fixator further comprises an identification part, the identification part is arranged on the fixing part and used for identifying information of different surgical instruments, and identification modes of the identification part comprise image identification and electromagnetic induction identification; the identification part is electrically connected with the driving part, and the driving part drives the corresponding through hole to rotate to different working positions according to the identification information of the identification part.

In one embodiment, a plurality of the through holes respectively pass through the rotation center of the adapting part.

In one embodiment, the aperture of the plurality of through holes gradually increases or gradually decreases along the rotation direction of the adapter.

In one embodiment, the adaptive fixer further includes a plurality of indication portions, the indication portions are respectively disposed on the adaptive portion, the indication portions respectively correspond to the through holes, and when any one of the through holes moves to a certain predetermined working position, the corresponding indication portion sends out indication information.

In one embodiment, the indication part is an indicator lamp, the indicator lamp is arranged on an end face of the adaptation part, the end face is provided with the through hole, and the indicator lamps surround the corresponding through holes respectively.

A surgical robot comprising a surgical robotic arm and the adaptor fixture of any of the various embodiments described above; the operation mechanical arm is detachably and fixedly connected with the fixing part.

In one embodiment, the surgical robot further includes a plurality of surgical instruments respectively fitted to at least one of the through holes, and the plurality of surgical instruments can respectively pass through the fitted through holes.

Above-mentioned adaptation fixer and surgical robot integrate fixed part and adaptation portion into a whole, have avoided the dismantlement repeatedly between adaptation portion and the fixed part, and then have reduced the complex operation degree of adaptation fixer, have guaranteed the connection precision between adaptation portion and the fixed part simultaneously. And the through holes can allow surgical instruments with different or same sizes to respectively pass through, so that the fitting part and the fixing part do not need to be frequently matched due to the replacement of the surgical instruments, and the preoperative preparation time is effectively saved.

Drawings

Fig. 1 is a schematic structural view of an adaptive fastener according to an embodiment of the present invention;

fig. 2 is an exploded view of an adaptive fixator according to an embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of an adaptive fastener according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a surgical robot according to an embodiment of the present invention.

Wherein: 10. a surgical robot; 100. adapting the holder; 110. a fixed part; 111. a fixed base; 112. a fixed shaft; 113. a receiving cavity; 120. an adapting section; 121. a through hole; 122. adapting the turntable; 123. adapting the rotating shaft; 130. a drive section; 131. a motor; 132. a coupling; 140. a bearing; 150. an identification unit; 160. an indicator light; 200. a surgical manipulator; 300. a surgical instrument.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

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

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Performing minimally invasive surgery or conventional surgical shell surgery by means of surgery can help to ensure that the surgical procedure is performed with high precision and efficiency. In the process of using the surgical robot to perform an operation, the assembling efficiency of the surgical robot itself and the assembling time before the operation are one of the key factors affecting the efficiency of the whole operation. Meanwhile, the assembly precision of the surgical robot is also an important reason for determining the surgical precision. The utility model provides an adaptation fixer and including the surgical robot of this kind of adaptation fixer, assembly efficiency, the assembly precision that can effectively improve surgical robot reduce preparation time before the art simultaneously, provide certain guarantee for going on smoothly of operation.

As shown in fig. 1-3, an embodiment of the present invention provides an adaptor fixture 100 that can be mounted on a surgical robotic arm 200 and allows the surgical machine to pass through. The adaptor fixture 100 includes a fixing portion 110 and an adaptor portion 120, and the fixing portion 110 is fixedly connected to the surgical robot arm 200 and can move in position or rotate in angle in accordance with the operation of the surgical robot arm 200. The fitting part 120 is movably disposed on the fixing part 110, and the fitting part 120 moves or rotates correspondingly with the movement or rotation of the fixing part 110, so as to ensure that the fitting part 120 is placed at a correct position and angle relative to the patient. The adapting part 120 is provided with a plurality of through holes 121, the through holes 121 respectively penetrate through the adapting part 120, the apertures of at least two of the through holes 121 are different or the apertures of all the through holes 121 are the same, the through holes 121 with different apertures allow surgical instruments 300 with different outer diameters to penetrate, and the adapting part 120 moves relative to the fixing part 110 and adjusts the set through holes 121 to different working positions. The surgical instrument 300 can be inserted into the patient at a suitable angle and depth through the through-hole 121 in different operative positions.

It should be noted that the different working positions are positions or angles for facilitating the insertion of the surgical instrument 300, such as the axis of the through hole 121 in the different working positions extends vertically, horizontally or at other suitable angles.

Above-mentioned adaptation fixer 100 is integrated into a whole with fixed part 110 and adaptation portion 120, has avoided the repeated dismantlement between adaptation portion 120 and the fixed part 110, and then has reduced the complex operation degree of adaptation fixer 100, has guaranteed the connection precision between adaptation portion 120 and the fixed part 110 simultaneously. And the plurality of through holes 121 can allow surgical instruments 300 of different or the same size to respectively pass through, so that the adapter part 120 and the fixing part 110 do not need to be frequently matched due to the replacement of the surgical instruments 300, and the preoperative preparation time is effectively saved. It is understood that the movable form of the fitting part 120 with respect to the fixing part 110 may be rotation and/or sliding. When the sliding form is adopted, the through holes 121 are sequentially arranged according to the sliding direction of the adapting part 120, and when the adapting part 120 slides to different positions, the corresponding through holes 121 are adjusted to different working positions. When the rotation mode is adopted, the corresponding through hole 121 is adjusted to different working positions when the adapting part 120 rotates by different angles. The following embodiments are only described by taking the rotation form of the adapter 120 as an example, and it can be understood that the technical solutions in the following embodiments can be applied to the sliding form of the adapter 120 after being adaptively modified.

As shown in fig. 1-3, in an embodiment of the present invention, the adaptive portion 120 is disposed on the fixing portion 110, the plurality of through holes 121 are distributed in a circumferential array around a rotation center of the adaptive portion 120, and the adaptive portion 120 can rotate relative to the fixing portion 110 and adjust the set through holes 121 to different working positions. The adapting part 120 rotates relative to the fixing part 110, and can ensure that each through hole 121 moves to or away from different working positions without increasing the activity space, so that more operable space is provided for the operation. The through-hole 121 is a passage for a surgical instrument 300 (such as a needle or a screwdriver) to ensure that the surgical instrument 300 is inserted into a patient at a specific angle and at a specific depth, and the surgical instrument 300 is inserted through one end of the through-hole 121 and passes out through the other end. Optionally, the through holes 121 respectively avoid the rotation center of the adapting portion 120, or the through holes 121 respectively pass through the rotation center of the adapting portion 120 along the rotation radial direction and intersect at the rotation center, or the through holes 121 respectively pass through the rotation center of the adapting portion 120 along the rotation radial direction and have axial misalignment at the rotation center. In fig. 1-3, a plurality of through holes 121 are shown passing through and intersecting the center of rotation of the adapter 120, respectively.

It will be appreciated that the differing diameters of the at least two through holes 121 may allow the adapter 120 to be able to accommodate a greater number of different sized surgical instruments 300, avoiding frequent disassembly of the adapter holder 100 due to replacement of the surgical instruments 300. Alternatively, the aperture diameters of the plurality of through holes 121 are gradually increased or gradually decreased in the rotation direction of the fitting part 120. The through holes 121 with the apertures regularly distributed are convenient for medical staff to adjust the through holes 121 matched with different surgical instruments 300 to different working positions, or the adaptive fixator 100 is convenient for automatically adjusting the through holes 121 matched with different surgical instruments 300 to different working positions. As a practical matter, the through-holes 121 adapted to different surgical instruments 300 are adjusted to different working positions manually or automatically.

The function of the adapter 120 and the fixing part 110 is to maintain a fixed connection with the surgical robot arm 200 while adjusting the through-hole 121 adapted to different surgical instruments 300 to different working positions. The present invention is not limited to the specific structure of the fitting part 120 and the fixing part 110. As an implementation manner, as shown in fig. 1 to 3, the adapting portion 120 includes an adapting turntable 122 and an adapting rotating shaft 123, one end of the adapting rotating shaft 123 is disposed on the fixing portion 110, the adapting turntable 122 is fixedly disposed on the other end of the adapting rotating shaft 123 far away from the fixing portion 110, and the through holes 121 are respectively opened on the adapting turntable 122. The adaptive rotation shaft 123 is used for realizing the rotation of the adaptive rotation disc 122 provided with the through hole 121 relative to the fixed part 110. The adaptor turntable 122 is provided with a through hole 121. The adapting rotating shaft 123 can realize the rotating connection and stable rotation of the adapting part 120 and the fixing part 110 by using the matching form of the rotating disc and the rotating shaft; the diameter of the adapting rotary disc 122 is larger than that of the adapting rotary shaft 123, so that the overall volume and weight of the adapting part 120 are not increased significantly while the distance of the through hole 121 is effectively increased, and the stable rotation of the adapting part 120 is further promoted. In other embodiments of the present invention, the adapter 120 may be a cylindrical adapter (corresponding to the same or similar diameters of the adapter turntable 122 and the adapter rotating shaft 123 in the above embodiments).

Further, as shown in fig. 1 to 3, the fixing portion 110 includes a fixing base 111 and a fixing shaft 112, the fixing base 111 is fixedly disposed at one end of the fixing shaft 112, and the fixing base 111 is used for being fixedly connected with the surgical robot arm 200. The dedicated fixing base 111 enables a stable connection between the fixing part 110 and the surgical robot arm 200. As an implementation manner, the fixing manner between the fixing base 111 and the surgical robot arm 200 may be a bolt connection, a screw connection, a snap connection, a magnetic attraction, and the like. The adaptive rotation shaft 123 is disposed at the other end of the fixed shaft 112 away from the fixed base 111. It can be understood that the rotational connection between the adapting rotating shaft 123 and the fixed shaft 112 may be that the adapting rotating shaft 123 is directly inserted into the fixed shaft 112, the fixed shaft 112 is directly inserted into the adapting rotating shaft 123, or the adapting rotating shaft 123 and the fixed shaft 112 are rotationally connected through an additional connecting member. As an achievable mode, the fixed shaft 112 is provided with a receiving cavity 113 therein, one end of the adapting rotating shaft 123 far away from the adapting rotating disc 122 penetrates into the receiving cavity 113, and a bearing 140 is arranged between the adapting rotating shaft 123 and the inner side wall of the receiving cavity 113. The bearing 140 can not only realize the relative rotation between the adapting rotating shaft 123 and the fixed shaft 112, but also bear the axial force to a certain extent, thereby ensuring the stable rotation of the adapting rotating shaft 123 relative to the fixed shaft 112.

In an embodiment of the present invention, the through hole 121 adapted to the surgical instrument 300 is automatically adjusted to different working positions. As an implementation manner, as shown in fig. 1 to 3, the adaptor fixture 100 further includes a driving portion 130, the driving portion 130 is disposed between the fixing portion 110 and the adaptor portion 120, the driving portion 130 is connected to the adaptor portion 120, and the driving portion 130 acts and drives the adaptor portion 120 to rotate relative to the fixing portion 110, so as to drive the set through hole 121 to rotate to different working positions. Alternatively, the driving portion 130 may be a structure (such as an electric motor, a hydraulic motor, etc.) that directly outputs rotation, and the driving portion 130 may also be a structure (such as a hydraulic cylinder, a cylinder matching crank-link structure, etc.) that outputs linear motion and then converts the linear motion into rotation through a transmission structure to drive the adapting rotating shaft 123 to rotate. Specifically, the driving portion 130 includes a motor 131 and a coupling 132, the motor 131 is fixedly disposed in the accommodating cavity 113, and the coupling 132 is in transmission connection with the adaptive rotating shaft 123 and an output shaft of the motor 131. The motor 131 is installed in the accommodating cavity 113, so that the overall size of the adapting holder 100 can be reduced while the mechanical strength of the fixing shaft 112 is ensured, and meanwhile, the coupling 132 can realize stable transmission connection between the output shaft of the motor 131 and the adapting rotating shaft 123. It is understood that the motor 131 is a servo motor, a stepping motor or a general motor, and when the motor 131 is a general motor, it is necessary to provide a structure capable of detecting different rotation angles of the adapter 120.

In an embodiment of the present invention, as shown in fig. 1 to 3, the adaptor fixture 100 further includes an identification portion 150, the identification portion 150 is disposed on the fixing portion 110, the identification portion 150 is used for identifying information of the surgical instrument 300, and the identification manner of the identification portion 150 includes image recognition and electromagnetic induction recognition. Correspondingly, the surgical instrument 300 is provided with an electromagnetic chip or an identity code such as a two-dimensional code or a bar code. The recognition part 150 can quickly and accurately recognize the surgical instrument 300 to be used, and the recognition part 150 is electrically connected with the driving part 130, and the driving part 130 drives the corresponding through hole 121 to rotate to different working positions according to the recognition information of the recognition part 150. The recognition part 150 is electrically connected with the driving part 130, so that the through hole 121 corresponding to the surgical instrument 300 to be used is accurately recognized and accurately controlled to rotate to different working positions, and the efficient and smooth operation of the surgical process is ensured.

Further, as shown in fig. 1 to 3, the adaptive fixer 100 further includes a plurality of indication portions, the indication portions are respectively disposed on the adaptive portion 120, the indication portions respectively correspond to two ends of one through hole 121, and when any one end of the through hole 121 moves to a certain predetermined working position, the corresponding indication portion sends out indication information. When the plurality of indicating portions correspond to one end of the through hole 121, one indicating portion is disposed at each end of the through hole 121 in the half-circumference range of the adapting dial 122. When the plurality of indicating portions correspond to both ends of the through hole 121, one indicating portion is provided at each end of the through hole 121 in the entire circumferential range on the fitting dial 122. The indicating part can accurately remind the operator of the position of the through hole 121, and misoperation of the operator is avoided. In an implementation manner, the indication part is an indicator light 160, the indicator light 160 is disposed on an end surface of the adaptation part 120, the end surface being opened with the through hole 121, and the indicator lights 160 surround the corresponding through holes 121 respectively. When the set through hole 121 is rotated to a certain predetermined working position, the corresponding indicator lamp 160 is turned on. As another realizable manner, the indicating portion is a pointer or the like. It should be noted that when a certain through hole 121 is rotated to a certain working position, one indicator light 160 (the indicator light 160 is located in the semicircular range of the adapter dial 122) or two indicator lights 160 at the end thereof are respectively lighted.

As shown in fig. 3-4, an embodiment of the present invention further provides a surgical robot 10, which includes a surgical manipulator 200 and the adaptive fixture 100 according to any of the above aspects. The surgical robot arm 200 is detachably and fixedly connected to the fixing portion 110. Above-mentioned surgical robot 10 integrates fixed part 110 and adaptation portion 120 into a whole, has avoided the repeated dismantlement between adaptation portion 120 and the fixed part 110, and then has reduced the complex operation degree of adaptation fixer 100, has guaranteed the connection precision between adaptation portion 120 and the fixed part 110 simultaneously. And the plurality of through holes 121 can allow surgical instruments 300 of different or the same size to respectively pass through, so that the adapter part 120 and the fixing part 110 do not need to be frequently matched due to the replacement of the surgical instruments 300, and the preoperative preparation time is effectively saved. Further, the surgical robot 10 further includes a plurality of surgical instruments 300, the plurality of surgical instruments 300 are respectively fitted to the at least one through hole 121, and the plurality of surgical instruments 300 can respectively pass through the fitted through holes 121.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. An adaptive fixer comprises a fixing part and an adaptive part, wherein,

the fixing part is connected with the surgical mechanical arm;

the adapting part is connected with the fixing part;

the surgical instrument fixing device is characterized in that a plurality of through holes are formed in the adapting part and penetrate through the adapting part, and surgical instruments are allowed to penetrate through the through holes.

2. The adaptor fixture of claim 1 wherein a plurality of said through holes are distributed in a circumferential array about a center of rotation of said adaptor portion, said adaptor portion being rotatable relative to said fixture portion and adjusting said set through holes to different operative positions.

3. The adaptor holder of claim 2, further comprising a driving portion disposed between the fixing portion and the adaptor portion, the driving portion being connected with the adaptor portion; the driving part drives the adaptation part to rotate, and then drives the set through hole to rotate to different working positions.

4. The adaptive fixator according to claim 3, wherein the adaptive part comprises an adaptive rotary disc and an adaptive rotary shaft, one end of the adaptive rotary shaft is connected with the driving part, and the adaptive rotary disc is fixedly arranged at the other end of the adaptive rotary shaft far away from the fixing part; the through holes are respectively formed in the adaptive rotary table; the fixing part comprises a fixing base and a fixing shaft, the fixing base is fixedly arranged at one end of the fixing shaft, and the fixing base is used for being fixedly connected with the surgical mechanical arm; the adaptation pivot set up in the fixed axle is kept away from fixed baseplate's the other end.

5. The adaptive fixator according to claim 4, wherein a containing cavity is formed in the fixed shaft, one end of the adaptive rotating shaft, which is far away from the adaptive rotating disc, penetrates into the containing cavity, and a bearing is arranged between the adaptive rotating shaft and the inner side wall of the containing cavity; the driving part comprises a motor and a coupler, the motor is fixedly arranged in the accommodating cavity, and the coupler is in transmission connection with the adaptive rotating shaft and an output shaft of the motor.

6. The adaptor holder of claim 3, further comprising an identification portion disposed on the fixing portion, the identification portion being used to identify information of different surgical instruments, and the identification manner of the identification portion includes image recognition and electromagnetic induction recognition; the identification part is electrically connected with the driving part, and the driving part drives the corresponding through hole to rotate to different working positions according to the identification information of the identification part.

7. The fitting holder according to claim 2, wherein the hole diameters of the plurality of through holes are gradually increased or gradually decreased in the rotation direction of the fitting portion.

8. The adaptive fixator of any one of claims 1-7 further comprising a plurality of indicators respectively disposed on the adaptive portions, the plurality of indicators respectively corresponding to the through holes, wherein when any one of the through holes moves to a predetermined working position, the corresponding indicator sends an indication message.

9. A surgical robot comprising a surgical robotic arm and the adaptor fixture of any one of claims 1-8; the operation mechanical arm is detachably and fixedly connected with the fixing part.

10. A surgical robot according to claim 9, further comprising a plurality of surgical instruments respectively fitted with at least one of the through holes, the plurality of surgical instruments respectively being able to pass through the fitted through holes.

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