WO2020024946A1

WO2020024946A1 - Slave manipulator device assembly

Info

Publication number: WO2020024946A1
Application number: PCT/CN2019/098438
Authority: WO
Inventors: 王建辰; 高元倩
Original assignee: 深圳市精锋医疗科技有限公司
Priority date: 2018-07-31
Filing date: 2019-07-30
Publication date: 2020-02-06
Also published as: CN109330696B; CN109330689B; CN109330693B; CN109330693A; CN109330700B; CN109330692B; CN109330698A; CN109330700A; CN109330699B; CN109330695B; CN109330689A; CN210185692U; CN109330692A; CN109330690B; CN109330697A; CN109330699A; CN109330694B; CN109330690A; CN109330698B; CN109330691B

Abstract

Disclosed in the present application is a slave manipulator device assembly, comprising: three manipulator arms, wherein the manipulator arms have main bodies, the plurality of main bodies is disposed proximate to one another such that the plurality of manipulator arms inserts the body from one incision, and the portions of the plurality of main bodies located in the incision area are arranged along a straight line sequentially.

Description

From operating device components

This application claims the priority of a Chinese patent application filed on July 31, 2018 with the Chinese Patent Office under the application number 201810858886.1, with the application name "From the operating device component", and the Chinese Patent Office on October 22, 2018, The application number is 201811228513.2, and the application name is "Slave operating device component and surgical robot with multiple operating arms", the entire contents of which are incorporated herein by reference.

Technical field

This application relates to the field of minimally invasive surgery, and in particular, to slave device components and surgical robots.

Background technique

Minimally invasive surgery refers to a surgical method using laparoscopy, thoracoscopy and other modern medical equipment and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and been widely used. The minimally invasive surgical robot usually includes a master operating table and a slave operating device. The master operating table is used to send control commands to the slave operating device according to the operation of the doctor to control the slave operating device. The slave operating device is used to respond to the control command sent by the master operating table. And carry out the corresponding surgical operations.

The operation device has an operation arm for extending into the body and performing corresponding operations. Due to the limitation of the surgical position, it is difficult for multiple operation arms to extend into the body from a narrow incision, thereby limiting the scope of application of the surgical robot.

Summary of the invention

According to various embodiments of the present application, a slave operation device assembly capable of extending into a body from a long and narrow incision is provided. A slave operating device assembly with multiple operating arms includes: three operating arms, the operating arm having a main body, and a plurality of the main bodies are arranged adjacent to each other so that a plurality of the operating arms extend into the body from one incision, and A plurality of portions of the main body located in the cutout area are sequentially arranged along a straight line.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solutions in the embodiments of the present application or the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely These are some embodiments of the present application. For those of ordinary skill in the art, without any creative effort, drawings of other embodiments can be obtained according to these drawings.

1 is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

2 and 3 are partial schematic diagrams of different embodiments of the slave operating device according to the present invention;

4 and 5 are schematic structural diagrams of different states according to an embodiment of the present invention;

6 and 7 are schematic structural diagrams of different states according to an embodiment of the present invention;

8 and 9 are schematic structural diagrams of different states according to an embodiment of the present invention;

10 and 11 are schematic structural diagrams of different states according to an embodiment of the present invention;

12 and 13 are schematic structural diagrams of different states according to an embodiment of the present invention;

14 and 15 are schematic structural diagrams of different states according to an embodiment of the present invention;

16 and 17 are schematic structural diagrams of different states according to an embodiment of the present invention;

18 and 19 are schematic structural diagrams of different states according to an embodiment of the present invention;

20 and 21 are schematic structural diagrams of an operation arm in the embodiments shown in FIGS. 18 and 19, respectively;

22 and 23 are schematic structural diagrams of different states according to an embodiment of the present invention;

FIG. 24 is a schematic structural diagram of an embodiment of the present invention; FIG.

25 and 26 are schematic structural diagrams of different states according to an embodiment of the present invention;

27 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 28 is a partial structural diagram of an embodiment of a slave operating device component according to the present invention; FIG.

FIG. 29 is a schematic structural diagram of an embodiment of a slave operating device component according to the present invention; FIG.

30 and 31 are a schematic structural diagram and a partial schematic diagram of an embodiment of the present invention, respectively;

32 is a schematic structural diagram of an embodiment of a slave operating device component according to the present invention;

33 and 34 are a partial cross-sectional view and an enlarged view at A, respectively, according to an embodiment of the present invention;

35 and 36 are partial cross-sectional views of different embodiments of the operating device assembly according to the present invention.

detailed description

In order to facilitate understanding of the present invention, the present invention will be described more fully with reference to the accompanying drawings. The drawings show a preferred embodiment of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough understanding of the present disclosure.

It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not meant to be the only implementations. As used herein, the terms "distal" and "proximal" are used as orientation words, which are common terms in the field of interventional medical devices, where "distal" refers to the end far away from the operator during surgery, and "proximal" refers to surgery Close to the operator's end during the process.

As shown in FIGS. 1 to 3, the surgical robot includes a master operating table 1 and a slave operating device 2. The master operating station 1 is configured to send a control command to the slave operating device 2 to control the slave operating device according to the operation of the doctor, and is also used to display the image acquired by the slave device. The slave operation device is used to respond to the control command sent by the master operation table and perform corresponding operations, and the slave operation device is also used to acquire the body image.

The slave operation device 2 includes a robot arm 10, a power mechanism 20 provided on the robot arm 10, an operation arm 30 provided on the power mechanism 20, and a sleeve on which the operation arm 30 is sleeved. The mechanical arm 10 is used to adjust the position and attitude of the operation arm 30; the power mechanism 20 is used to drive the operation arm 30 to perform corresponding operations; the operation arm 30 is used to extend into the body and perform surgical operations through its distal instrument 320 at the far end, And / or acquire in-vivo images. Specifically, as shown in FIG. 2 and FIG. 3, the operation arm 30 is provided with a cannula, and the end instrument 320 thereof protrudes out of the cannula, and is driven by the power mechanism 20 to perform operations. In FIG. 2, a region where the operation arm 30 is located in the casing is a rigid region; in FIG. 3, a region where the operation arm 30 is located in the casing is a flexible region, and the casing is bent with the flexible region. In other embodiments, the sleeve can also be omitted.

In one embodiment, the robot arm is disposed on a base, and the base is used to be placed on the ground. Further, the base has a moving wheel to facilitate the adjustment of the position of the slave operating device. In other embodiments, the base may also be disposed on the ceiling or other high areas to lift the robotic arm, for example, the side wall of the wall. Alternatively, the base may be provided on an operating table.

In one embodiment, there are a plurality of operation arms 30, all of which are arranged on the same power mechanism 20. The distal ends of the plurality of operation arms 30 extend into the body through an incision on the human body, so that the end instruments 320 move to the lesion 3 Perform surgery nearby. Specifically, the power mechanism has a plurality of power sections, and each power section is correspondingly connected to an operation arm. In other embodiments, there are multiple power mechanisms. Each power mechanism 20 is provided with an operation arm 30 and the plurality of operation arms extend into the body from a cut. At this time, the plurality of power mechanisms 20 may be provided on a robot arm 10. It may be provided on a plurality of robot arms 10. It should be noted that multiple operation arms 30 may also extend into the body from multiple incisions. For example, two operation arms are inserted into each incision, and another operation arm is inserted into each incision.

In one embodiment, the slave operating device 2 further includes a stamping card. The stamping card is used to pass an incision on the human body, and is fixedly disposed in the incision area. The operation arm extends into the body through the stamping card.

As shown in FIG. 4 to FIG. 11, they are structural schematic diagrams of different embodiments of operating device components according to the present invention. The slave operating device assembly includes three operating arms 30. The operating arm 30 has a main body 310 and an end instrument 320 provided on the main body 310. A plurality of main bodies 310 are disposed adjacent to each other so that the main bodies 310 of the plurality of operating arms 30 protrude from one incision. in vivo.

In one embodiment, the main body 310 is a rod structure. For example, the main body 310 is a straight rod, and a plurality of straight rods are arranged adjacently; for another example, the main body 310 is a bent rod, and the distal ends of the plurality of main bodies 310 are arranged adjacently; The main bodies abut each other at least in the middle region to extend into the body from an incision. It should be noted that the main body 310 may be an elastic main body 310, that is, it may have a certain elastic deformation, or it may not have an elastic deformation. In one embodiment, the main body 310 is a flexible main body 310, that is, the main body 310 itself can adjust the position and posture, and the distal ends of the plurality of flexible main bodies 310 are arranged adjacently to extend into the body from one incision. In one embodiment, the main body portion of the plurality of operation arms is a rod structure, and the main body portion is a flexible body.

In one embodiment, the plurality of main bodies 310 are substantially abutted in sequence in the cutout area, so as to make the plurality of main bodies 310 more compact. In other embodiments, a plurality of main bodies 310 may also be arranged at intervals in the cutout area. For example, the distance between the two main bodies 310 is 2 to 100 mm, so that the slave operating device assembly has a larger operating space, and the operation The arm 30 has a larger operating range in the body. Specifically, the distance between the two main bodies may be 5 to 15 mm, 3 to 10 mm, 4 to 20 mm, and the like. In other embodiments, the plurality of main bodies 310 may be partially abutted in the cutout area and partially spaced.

In one embodiment, a main body 310 is disposed on each operation arm 30, and each main body 310 is connected to an end instrument 320. In other embodiments, one operation arm may include multiple bodies; one body may also be connected to multiple end instruments. For the convenience of description, each of the following embodiments is provided with a main body on each operation arm, and an end instrument is provided on each main body. It can be understood that multiple main bodies can be provided on one operating arm as required; multiple end instruments can also be provided on one main body, and the types of the end instruments can be the same or different.

As shown in the embodiment shown in FIG. 4 and FIG. 5, portions of the plurality of main bodies 310 of the operation arm 30 located in the cutout area are sequentially arranged along a straight line. It should be noted that the number of the operation arms 30 may also be other numbers, for example, there are four, five, etc. of the operation arms 30. The portions of the main bodies 310 of the plurality of operation arms 30 located in the cutout area are arranged along a straight line in order.

Due to the multiple main bodies 310 arranged in a straight line, the slave operating device assembly can be extended into the body from a strip-shaped incision, so that the slave operating device assembly can be extended into the body from a narrow area for surgical operations, such as From the ribs into the body.

The portions of the main bodies 310 of the plurality of operation arms 30 located in the cutout area can also be compactly arranged. In one embodiment, the plurality of operations are arranged in a triangle. For example, in the embodiment shown in FIG. 3, there are three main bodies 310, and the three main bodies 310 are distributed in a triangle, and the triangle may be an isosceles triangle or an equilateral triangle. For another example, in the embodiments shown in FIG. 6 and FIG. 7, the operation arm 30 includes four, and the main bodies 310 of the four operation arms 30 are arranged in a triangle. The three bodies are arranged along a straight line and form one side of the triangle. The other main body forms two other sides of the triangle with the two main bodies 310 located on the edge of the side. Further, the other two sides of the triangle have the same length, that is, the two sides formed by the two main arms 310 of the operation arm 30 have the same length. For another example, in the embodiment shown in FIG. 8 and FIG. 9, the operation arm 30 includes four, and three of the main bodies 310 are distributed in a triangle shape, and are distributed along the periphery of the other main body 310. Evenly distributed along the periphery of the other operating arm.

In other embodiments, portions of the main bodies 310 of the plurality of operation arms 30 located in the cutout area may be distributed in a quadrangular shape. For example, in the embodiments shown in FIG. 10 and FIG. 11, there are four main bodies 310, and the portions located in the cutout area are rectangularly distributed or parallelogram-shaped. For another example, there are five main bodies 310, and one side of a quadrilateral includes three main bodies 310 distributed along a straight line.

It should be noted that, according to actual needs, the main bodies 310 of the plurality of operation arms 30 may be arranged in multiple rows. For example, the plurality of operation arms 30 are arranged in three rows. As another example, a plurality of operating arms are arranged in four rows.

In an embodiment, the cross-sectional specifications of the main body 310 in the cutout region are substantially the same, and the specifications include the cross-sectional shape and size. For example, the cross section of the main body 310 in the cutout portion is circular, and the diameters of the main body 310 are the same. In other embodiments, the specifications of the cross section of the main body 310 in the cutout area may be all different, or partially different. For example, the cross-sectional shape of the main body 310 in the cutout area portion is different in the same size. The plurality of main bodies 310 may be arranged along a straight line in order according to the size of the cross section. For example, according to the size of the cross-section, they are arranged from small to large. Specifically, the cross-section of the main body 310 in the cutout area is circular, and the plurality of main bodies 310 are sequentially arranged according to the diameter size. As another example, the plurality of main bodies 310 are arranged in such a manner that the middle and large ends are small according to the size of the cross section. For another example, the cross-sections of the plurality of bodies in the cut-out area are all circular, and the radii of the cross-sections of some of the bodies are the same. It should be noted that the cross-section specifications of each part of the main body may be all the same, may be at least partially the same, or may be all different.

The lengths of multiple bodies can be the same or different to suit different requirements.

The operation arm 30 includes a first operation arm 31 and a second operation arm 32. The first operation arm 31 has a first body 311 and an operation portion 312 provided on the first body 311. The second operation arm 32 includes a second body 321 and an image portion 322 provided on the second body 321. The operation portion 312 And the image section 322 is a tip device 320. When performing surgery, the image portion 322 and the operation portion 312 are both located in the body, wherein the image portion 322 is used to acquire an in-vivo image, and the operation portion 312 is used to perform a surgical operation.

It should be noted that the diameters of the first operation arm and the second operation arm in the cutout region may be the same or different. For example, the diameter of the second body is larger than the diameter of the first body.

In an embodiment, the slave operation device assembly includes two operation portions 312 and an image portion 322, and the two operation portions 312 are both located between the image portion 322 and the lesion (as shown in FIG. 3). Wherein, the two operation parts 312 are located between the image part 322 and the lesion, which means that when the image part 322 is located at the maximum distance from the lesion, the extreme position of the operation part 312 in the same direction is located between the image part 322 and the lesion. In this way, when a surgical operation is performed from the operation device assembly, a better field of view can be obtained, and the operation portion 312 has a large operation space.

When there are three or more operation sections, they may be both located between the image section and the lesion, or at least two of them may be located between the image section and the lesion. When there are multiple image sections 322, the operation section 312 is located between the image section 322 and the lesion furthest to the lesion, or part of the operation section 312 is located between the image section 322 and the lesion furthest from the lesion, that is, at this time The farthest lesion is the operation part.

In other embodiments, when the image portion 322 is located at the maximum distance from the lesion, the limit position of the operation portion 312 in the same direction may be flush with the position of the image portion 322 or the image portion 322 is located between the operation portion 312 and the lesion.

In an embodiment, the operation section 312 includes two, and the image section 322 is located between the two operation sections 312. That is, when the distance between the two operation sections 312 is the largest, the extreme position of the image section 322 is located between the two operation sections 312. (As shown in Figure 3, Figure 4). For example, the image section 322 is located in a middle region of the two operation sections 312. In other embodiments, the image portion 322 may be located on one side of the two operation arms 30.

When there are three or more operation sections 312, the image section 322 is located between two operation sections 312 having the largest distance among the plurality of operation sections 312. Among them, the two operation parts 312 having the largest distance may be either the operation parts 312 on the main body 310 located at both ends of the plurality of main bodies 310 arranged in a certain direction, or the operation parts 312 on the main body 310 in the middle area; and, The two operation parts 312 with the largest distance can be either the operation parts 312 on two main bodies 310 in a row arranged in a certain direction, or the operation parts 312 on two main bodies 310 in different rows. In an embodiment, when the distance between the image portion 322 and the two remotest operation portions 312 is the longest, the image portion 322 is located in the middle region of the two operation portions 312. It can also be understood that the image portion 322, two When the operation sections 312 are distributed in an equilateral triangle or along a straight line, when the distribution is in an equilateral triangle, the distance from the image section 322 to the side formed by the operation section 312 is the extreme position of the image section 322 in that direction. In other embodiments, the image portion 322 may be close to one of the operation portions 312. Or in other embodiments, the image portion 322 is located between two of the plurality of operation portions 312, that is, when the two operation portions 312 have the largest distance, the image portion 322 is located between the two operation portions 312.

The arrangement of the plurality of main bodies 310 in the cutout area corresponds to the position and shape of the cutout. It is the same as the above embodiments, and will not be repeated here. When the main body 310 includes a first main body 311 and a second main body 321, they can be arranged as required.

As shown in FIG. 4 and FIG. 5, the operation arm 30 includes two first bodies 311, one second body 321, and a plurality of first bodies 311 and second bodies 321 distributed along a straight line. The second body 321 is located between the two first bodies 311 so that the image is located between the two operation parts 312, so that the operation part 312 can obtain a larger operation range under the monitoring of the image part 322.

In other embodiments, the second body 321 may also be located at an end of the plurality of bodies 310 arranged in a row. When the arrangement direction of the plurality of bodies 310 is directed toward the lesion, the second body 321 is far from the first body 311 The lesion so that the two operation arms 30 are located between the image portion 322 and the lesion.

When the main body 310 of the operation arm 30 is arranged in multiple shots, in one embodiment, the row far from the lesion includes the second body 321. At this time, the remaining rows may be either the first body 311 or part of the second body. Body 321.

As shown in FIG. 6 and FIG. 7, the main bodies 310 of the three operation arms 30 are arranged along a straight line, and the other operation arm 30 is a second operation arm 32. Among them, the end instrument 320 of the operation arm 30 aligned in a straight line, that is, the operation portion 312 or the image portion 322 is located between the image portion 322 of the operation arm 30 and the lesion which are not aligned with the other three operation arms 30 in a straight line, for example, Three main bodies 310 distributed along a straight line are located between the other main body 310 and the lesion. The three main bodies 310 arranged along a straight line may include either the second body 321 or the first body 311. In this embodiment, the three operation arms arranged along a straight line are all first bodies. In other embodiments, the three operation arms arranged along a straight line include a second body 321 located between the other two bodies 310. In other embodiments, the main bodies 310 of the three operation arms 30 are arranged along a straight line, and the other operation arm 30 may also be the first operation arm 31. Alternatively, another end instrument 320 of the other operation arm 30 that is not aligned with the other operation arm 30 may also be located between the end instrument 320 of the other operation arm 30 and the lesion.

When the main body 310 of the operation arm 30 is arranged in three rows or more, in one embodiment, the row far from the lesion is the second main body 321, and the middle row and the row near the lesion are the first main body 311. For example, the middle row includes at least two first bodies 311, and the at least one first body 311 in a row near the lesion is between the two first bodies 311 in the middle row. For another example, in the embodiment shown in FIG. 10 and FIG. 11, the main bodies 310 of the plurality of operation arms 30 are in a quadrangular shape. Among them, the main body 310 far from the lesion is the second body 321, and the other main bodies 310 are located in the second body 321 and the lesion. between. In this embodiment, the remaining three main bodies 310 are the first main body 311. In other embodiments, the remaining three main bodies 310 may also include a second main body 321, so that the image portion 322 provided thereon and the image portion 322 away from the lesion are provided. Acquire images together. For example, the body 310 near the lesion is the second body 321. Further, the second body 321 near the lesion is located in the middle of the two first bodies 311.

In other embodiments, the plurality of operation arms 30 extending from the operation device assembly into the body through one incision may not have the second operation arm 32, and the second operation arm 32 may extend into the body through another incision for better performance. Range of vision. The arrangement of the main bodies of the operation arms 30 may be the same as that of the above-mentioned embodiments, or the same arrangement manner in which the second operation arm 32 is replaced with the first operation arm 31 in the above-mentioned embodiments.

For example, there are three first operation arms 31, and the main bodies 310 of the three first operation arms 31 are distributed along a straight line. For another example, there are four first operation arms 31, and the main bodies 310 of the four operation arms 30 are distributed in a triangle shape, and one side of the triangle includes three main bodies 310. For another example, there are four first operation arms 31, and the main bodies 310 of the three operation arms 30 are distributed in a triangle. For another example, there are four first operating arms 31, of which three main bodies 310 are distributed along a straight line, and the other main body 310 is located between the first main bodies 311 of the operating arms 30 arranged in a row and the lesion.

It should be noted that the arrangement manner of the plurality of main bodies 310 and the arrangement manner of the plurality of end instruments 320 may or may not correspond to each other. The arrangement of the main body 310 may be the arrangement of the main body 310 in the cutout area, or the arrangement of the distal end of the main body 310. It should be noted that, for the convenience of description, the arrangement of the main body in the incision area in the embodiments of the present invention is consistent with the arrangement of the main body at the distal end of the body. The arrangement is different, but the end instruments connected to it are consistent with the arrangement of the end instruments in the embodiments.

In an embodiment, the relative position and arrangement of the operation portion 312 and the image portion 322 correspond to the position arrangement of the first body 311 and the second body 321. For example, when the operation portion 312 is located between the image portion 322 and the lesion, the first body 311 is located between the second body 321 and the lesion; for another example, when the image portion 322 is located between the two operation portions 312, the second body 321 is located Between the two first bodies 311. In other embodiments, the relative position arrangement of the end instruments 320 may be different from the position and arrangement of the main body 310. For example, when the operation portion 312 is located between the image portion 322 and the lesion, A main body 311 and a second main body 321 connected to the image portion are aligned in a straight line. As another example, three first bodies 311 are arranged in sequence, wherein the operation portions 312 of two adjacent bodies 310 are located on both sides of the operation portions 312 of the other body 310.

The operation arm 30 further includes a connection assembly 340. Both ends of the connection assembly 340 of the first operation arm 31 are respectively connected to the first body 311 and the operation portion 312, so that the first operation arm 31 adjusts the position of the operation portion 312 relative to the first body 311. And posture, two ends of the second operation arm 32 connection assembly 340 are respectively connected to the second body 321 and the image part 322, so that the second operation arm 32 adjusts the position and posture of the image part 322 relative to the second body 321. It should be noted that the plurality of operation arms 30 may each have a connection component 340, or only a part of the operation arms 30 may have a connection component 340.

The positions of the operation portion 312 and the image portion 322 in the above embodiments can be adjusted by the connection component 340. For example, when the two operation portions 312 are located between the image portion 322 and the lesion, the operation portion 312 is located between the image portion 322 and the lesion when the maximum adjustment range region of the component 340 is connected. As another example, when the image portion 322 is located between two operation portions 312 with the largest distance among the plurality of operation portions 312, the two operation portions 312 are in a maximum adjustment range of the connection component 340.

In one embodiment, the adjustment range and / or length of the at least two connecting components 340 are the same. For example, the adjustment ranges of the plurality of connection components 340 are the same. For another example, when the operation arm 30 includes a plurality of first operation arms 31 and a second operation arm 32, the adjustment range and / or length of the connection component 340 on the plurality of first operation arms 31 are the same as those of the second operation arm 32. The adjustment range and / or length of the upper connection component 340 are different. For another example, the adjustment range and / or length of each connection component 340 are different.

In one embodiment, the connection assembly 340 includes at least four degrees of freedom. One of the degrees of freedom of the connecting component 340 allows the connected operating arm 30 or the image portion 322 to rotate at least 0 to 300 degrees. For example, rotating within 90 degrees; another example is rotating within 180 degrees; and another example is rotating within 30 degrees.

It should be noted that the relative positions between the end instruments 320 in the foregoing embodiments may be the relative positions between the plurality of end instruments 320 when the connection assembly 340 is at the extreme position.

As shown in FIGS. 12 to 26, the slave operating device assembly includes an operating arm 30 and a power mechanism 20. Among them, the operating arm 30 has a driving section 330, a main body 310, and an end instrument 320 connected in this order; the power mechanism 20 includes a housing 210 and a power section 220 provided in the housing 210, and the power section 220 is connected to the driving section 330 for Since the end device 320 is driven by the driving portion 330, the slave operation device component can change the relative position between the main body 310 and the side wall of the housing 210, so as to increase the applicable range and flexibility of the slave operation device component.

In one embodiment, there are a plurality of operation arms 30, and a plurality of main bodies 310 extend into the body from one incision. The relative positions of the plurality of main bodies 310 in the incision area can be changed from the operation device assembly. For example, in the embodiments shown in FIG. 12 and FIG. 13, the main body includes three, and the main body 310 located in the cutout area is switched from a linear distribution to a triangular distribution, or from a triangular distribution to a linear distribution, from the operation device assembly. As another example, the distance between a plurality of main bodies 310 distributed along a straight line can be changed from the operation device assembly. It should be noted that the number of the plurality of main bodies and the arrangement manner in the cutout area are the same as those in the foregoing embodiments, and the main body can be switched among the arrangement manners of the above embodiments from the operating device.

In the embodiment shown in FIGS. 14 and 15, the distance between the main body 310 on the driving part 330 and the side wall of the housing 210 is adjusted from the operating device assembly through the power part 220 so that the main body 310 extends into the body from a different position of a cutout. , Or let the body extend into the body from different incisions. The surface facing the human body during surgery is the bottom wall, and the side wall is adjacent to the bottom wall. The distance between the main body 310 and the side wall of the housing 210 refers to the distance between the portion of the main body 310 located in the cutout area and the plane where the side wall of the housing 210 is located. Adjusting the distance means adjusting the distance from the main body 310 to the side wall of the at least one housing 210. Distance. In other embodiments, the power portion 220 may also adjust the distance between other parts of the main body 310 and the side wall of the housing 210.

The above-mentioned slave device assembly can adjust the position of the main body 310, thereby further increasing the applicable range of the slave device assembly.

In one embodiment, the power unit 220 is rotatable relative to the housing 210 to adjust the position of the main body 310. Specifically, the power mechanism 20 further includes a connecting portion 230. The housing 210 has a guide rail 211. The connecting portion 230 is provided on the guide rail 211 and is slidable with the guide rail 211. The power portion 220 is rotatably provided on the connecting portion 230 and follows the connecting portion. 230 is rotatable relative to the housing 210. Further, the extending direction of the guide rail 211 is the same as the direction of the rotation axis of the power section 220. Wherein, the portion of the main body protruding into the cutout area is non-overlapping with the rotation axis of the driving portion 330, so that the power portion 220 can change the distance between the portion of the main body and the side wall of the housing 210 when rotating, for example, the main body and The rotation axes are arranged in parallel at intervals.

The above-mentioned slave operating device assembly, the operating arm 30 provided on the power section 220 has two degrees of freedom, so that the slave operating device assembly is more flexible and has a wider range of applications. More simple and convenient.

It should be noted that, in other embodiments, the guide rail may also extend in other directions, for example, the extending direction intersects the rotation axis and is an acute angle. The guide rail 211 may also be omitted; an angle may also be formed between the main body 310 and the rotation axis. For example, the main body 310 is a straight rod that forms an acute angle with the rotation axis.

In other embodiments, the power part 220 may also be movable relative to the housing 210 to adjust the distance between the main body 310 and the side wall of the housing 210. For example, the power part is slidably disposed on a guide rail, wherein the extending direction of the guide rail is directed toward Side wall, so that the distance between the main body and the side wall of the housing is adjusted by translation.

In one embodiment, there are multiple power sections 220 and operating arms 30. The operating arm 30 is disposed on the corresponding power section 220. The power section 220 is used to adjust the main body 310 of the operating arm 30 from the first position to the second Position, the arrangement of the plurality of bodies 310 in the first position is different from the arrangement in the second position. Among them, at least part of the main body 310 has a different distance from the side wall of the housing 210 when the first position and the second position are different, that is, when the partial distance is different, there may be a part of the main body 310 that is not in the first position and the second position. As a result, the distance from the side wall of the housing 210 has not changed. For example, the main body 310 includes three, and one of the main bodies 310 remains unchanged. When the other two main bodies 310 are in the first and second positions, the positions change, and the three main bodies 310 are in the first and second positions. Arranged differently. As another example, the main body 310 includes three. When the three main bodies 310 are in the first position and the second position, the positions are changed, and the arrangement manner of the three main bodies 310 is also changed. In other embodiments, the power unit 220 may also move the operation arm 30 to another position, such as the third position. When the plurality of main bodies 310 are located in the third position, the arrangement manner is the same as that of the first position and the second position. Different.

It should be noted that the number of the power sections 220 may be the same as or more than the number of the operation arms 30, and the operation arms 30 may be even on the corresponding power sections 220 as required.

The above slave device assembly can change the arrangement of the plurality of main bodies 310 in the incision area, so that the slave device assembly can adapt to different incisions to perform surgical operations at different positions on the human body.

In one embodiment, when the plurality of main bodies 310 are located at the first position, the portions in the cutout area are arranged in a row. When in the second position, the plurality of bodies 310 are arranged in a concentrated manner. For example, in the embodiment shown in FIG. 12 and FIG. 13, the main body 310 includes three main bodies, namely main body 310A, main body 310B, and main body 310C. The three main bodies 310 are arranged in a straight line when they are in the first position, and when they are in the second position, The portion in the incision area is arranged in a triangle. Specifically, in the second position, the main body 310B is located away from the lesion, and the main body 310A and the main body 310C are located between the main body 310B and the lesion. For another example, in the embodiment shown in FIG. 16 and FIG. 17, the main body 310 includes four main bodies, namely main body 310A, main body 310B, main body 310C, and main body 310D. When the four main bodies 310 are located at the first position, they are arranged along a straight line in order, and the second In the second position, the main body 310A is located away from the lesion, the main body 310D is located near the lesion, and the main body 310B and the main body 310C are located between the main body 310A and the main body 310D. The arrangement manner of the plurality of main bodies 310 may be arranged in the manner described in the foregoing embodiments, and is not repeated here.

In one embodiment, among the main bodies 310 of the plurality of operation arms 30, at least two main bodies 310 have different rotation radii, so that after the plurality of main bodies 310 are rotated, they are arranged in a predetermined manner. For example, the rotation radii of the plurality of bodies 310 are all different. In other embodiments, the rotation radii of the main bodies 310 of the plurality of driving units 330 may be the same. It should be noted that the rotation radius of the main body 310 may refer to the rotation radius of a portion of the main body 310 in the cutout area, or the rotation radius of the proximal end area of the main body 310, or other areas.

In one embodiment, the distance between the main body 310 of the operation arm 30 and the side wall of the housing 210 is adjusted from the operation device assembly by replacing the operation arm 30 connected to the power unit 220. Specifically, as shown in the embodiments shown in FIGS. 18 and 19, the operation arm 30 has a first position operation arm 33, a second position operation arm 34, and the first position operation arm 33 and the second position operation arm 34 have the same power. When the parts 220 are connected, the distance between the main body 310 and the side wall of the housing 210 is different. For example, the power unit 220 is provided with a power connection plate, and the drive unit 330 is provided with a drive connection plate 331 to be connected to the corresponding power connection plate. As shown in FIGS. 20 and 21, the main body 310 of the first position operation arm 33 The distance to the middle area of the drive link 331 is smaller than the distance from the main body 310 of the second position operation arm 34 to the middle area of the drive link 331. The distance from the main body 310 to the middle area of the drive link 331 refers to the position of the main arm 310 of the operation arm 30. The distance between the area of the cutout area portion and the extension line of the middle area of the land. For another example, the distance between the main body 310 of the first position operation arm 33 and the middle region of the drive link 331 is greater than the distance between the main body 310 of the second position operation arm 34 and the middle region of the drive link 331.

When the number of power parts exceeds the number of required operation arms, the first position operation arm and the second position operation arm can also be installed on different power parts to adjust the distance between the main body and the side wall of the housing. At this time, the distances between the main body of the first position operation arm and the second position operation arm to the middle area of the drive plate may be the same, and the shape of the drive portion is different, so as to be installed on the required power portion. It should be noted that the first position operation arm and the second position operation arm may be either the first operation arm or the second operation arm, and it may also be understood that the first position operation arm may be used for performing a surgical operation. The first operation arm may include an operation portion, or may be a second operation arm for acquiring an image, and may include an image portion.

In other embodiments, the slave operation device assembly may also include a plurality of operation arms 30 with different positions of the main body 310 relative to the housing 210. For example, the slave operation device assembly includes a first position operation arm 33, a second position operation arm 34, and a third For the position operation arm, the positions of the three main bodies 310 relative to the housing 210 are different.

In an embodiment, the operation arm 30 has two groups, the first group of operation arms has a first position operation arm 33, the second group of operation arms has a second position operation arm 34, and the power unit 220 is correspondingly connected to the first group of operation arms. When the main body 310 of the slave operation device assembly is located at the first position and the power unit 220 is correspondingly connected to the second group of operation arms, the main body 310 of the slave operation device assembly is located at the second position. The arrangement of the second position is different. The operation arm 30 may also include other groups. After the operation arms 30 in each group are connected to the corresponding power section 220, the main bodies 310 of the operation device assembly are arranged in a predetermined position, and the plurality of groups of operation arms 30 and the power section 220 are arranged. After being connected, the arrangement of their bodies differs. The specific arrangement manner of the plurality of main bodies may be the same as the foregoing embodiments, and is not repeated here.

In one embodiment, the operation arms 30 in the first group of operation arms and the second group of operation arms are different. For example, the first group of operation arms are all first position operation arms 33, and the second group of operation arms are all second position operation arms 34. For another example, the first group of operation arms includes a first position operation arm and a third position operation arm, and the second group of operation arms includes a second position operation arm and a fourth position operation arm, wherein the first position operation arm and the second position When the operation arm, the third position operation arm, and the fourth position operation arm are disposed on the same power unit 220, the distances between the main body 310 and the side wall of the housing 210 are all different. According to requirements, the slave operating device assembly may further include more operating arms 30, and when different operating arms 30 are disposed on the same power section 220, the distance between the main body 310 and the side wall of the housing 210 is different.

In an embodiment, the operation arms 30 in the first group of operation arms are the same as the operation arms 30 in the second group of operation arms, that is, the two groups of operation arms 30 include the operation arms 30 having the same structure, where the operation arms 30 having the same structure are in different positions. , Can be connected to the same power section 220 or to different power sections 220. For example, the first group of operation arms includes a first position operation arm 33 and a second position operation arm 34. When the operation arm 30 of the slave device assembly is located at the first position and the second position, respectively, The second operating arm 32 is connected to the same power unit 220. For another example, the second group of operation arms includes a first position operation arm 33 and a second position operation arm 34. When the operation arm 30 of the slave device assembly is located at the first position and the second position, respectively, the second group of operation arms The first operating arm 31 in the middle is connected to different power sections 220.

In one embodiment, the main body positions of the same operation arm 30 in the two groups are adjacent, that is, when the operation arm 30 in the two groups is at least one of the positions, the main bodies of the same operation arm 30 are adjacently disposed. For example, in the embodiments shown in FIG. 22 and FIG. 23, the main bodies 310 of the plurality of operation arms 30 of the slave operation device assembly are arranged in a straight line at the first position, where two

adjacent operation arms

30A and 30B are at the slave operation device. When the operating arm 30 of the module is changed to the second position, no adjustment is required, and the remaining operating arms 30 are replaced with operating arms 30 having a structure different from the first position. In other embodiments, the same operation arms 30 in the two groups may be arranged at intervals, or partially adjacent to each other, and partially at intervals.

In one embodiment, as shown in FIG. 24, the relative position between the main body 310 and the housing 210 is adjusted from the operating device component through the elastic deformation of the main body. Specifically, the main body is elastically deformed to change the relative positions between the plurality of main bodies and the side wall of the casing. The main body 310 can ensure the position change while maintaining the rigidity, so that the plurality of main bodies 310 can be maintained during the operation. keep it steady.

In one embodiment, there are multiple operating arms 30. The main bodies 310 of the multiple operating arms 30 extend into the body from one incision. The main body 310 can change its arrangement in the incision area. The arrangement is the same as in the above embodiments. Not repeated here. In other embodiments, the plurality of operation arms 30 can also be extended into the body from different incisions through the adjustment of the elastic body 310.

In an embodiment, the slave operating device assembly further includes a restraining member 50. The restraining member 50 is provided with a through hole, and the plurality of operating arms 30 are passed through the through hole, so that the main body 310 is arranged in a restricted manner by the through hole. In this embodiment, after the main body 310 is penetrated with a through hole, its extending direction is also restricted by the through hole. For example, after the main body 310 passes through the through hole, the plurality of main bodies 310 are arranged in parallel with each other and perpendicular to the surface on which the through hole is opened. Specifically, the restraining member 50 has a certain thickness so that the extension direction of the main body 310 can be adjusted. For another example, the plurality of main bodies 310 are disposed radially after being penetrated through the through holes. For another example, after the plurality of main bodies 310 are passed through the through holes, part of the main bodies 310 are arranged in parallel, and part of the main bodies 310 are arranged radially relative to the main bodies 310 arranged in parallel.

In one embodiment, there is one through hole, and the plurality of bodies 310 pass through the through hole. In other embodiments, there may be multiple through holes, and the number of through holes may correspond to the number of the main body 310 or may not be provided correspondingly. For example, the number of the through holes is the same as the number of the main bodies 310, and each main body 310 is provided with a corresponding through hole. For another example, the number of through holes is smaller than the number of the main body 310, and a part of the main body 310 is provided with the same through hole. For another example, the number of through holes is greater than the number of the main body 310, and the main body 310 is disposed in the corresponding through hole as required. The arrangement manner of the plurality of through holes or the main body 310 is the same as the arrangement manner of the main body 310 in the foregoing embodiments, and is not repeated here.

In an embodiment, there may be multiple restraining members 50, and the through holes of the multiple restraining members 50 are different, and one of the restraining members 50 may be selected according to needs during use.

In one embodiment, the distance between the main body 310 and the side wall of the housing 210 is adjusted by changing the connection position between the operation arm and the power unit 220. As shown in FIG. 25 and FIG. 26, the driving part 330 has a driving connection disc 331. The power part 220 is provided with a plurality of power connection discs 221. The power part 220 can be connected to the driving part 330 from different positions to change the operating device components. The relative position between the main body and the side wall of the casing.

Wherein, when the power unit 220 is connected to the operation unit 312 from different positions, it can be understood that when the driving unit 330 has a driving connection disc 331, the power connection disc 221 connected from the operation arm 30 of the operation device assembly at different positions may be different. It can also be the same, that is, it is connected with different or the same power connection plate 221 at different positions. When connected with the same power connection plate 221, the driving portion 330 is rotated to install it to the power portion 220 from another angle, so that The operating arms 30 of the operating device assembly are located at different positions; when the driving section 330 has a plurality of drive connection discs 331, the power connection discs 221 connected by the plurality of drive connection discs 331 at different positions are at least partially different or completely the same, that is, The drive connection plate 331 is connected to a part of the power connection plate 221 in the first position, and is connected to another portion of the power connection plate 221 in the second position. The two parts of the power connection plate 221 can be different from each other (as shown in FIG. 25, FIG. (Shown in Figure 26), or they may be partially different, or they are all the same. It should be noted that the same power connection disc 221 can be connected to the same drive at different positions. Connecting plate 331, may be connected to a different disk drive 331 are connected at different positions.

In one embodiment, the operating arm 30 rotates relative to the power portion 220 to change from the first position to the second position. For example, the operating arm 30 rotates counterclockwise when the position is changed. In the first position and the second position, the power connection plate 221 connected to the drive connection plate 331 on the power unit 220 is the same. When it is in different positions, it connects to different drive connections.盘 331. For another example, the operating arm 30 rotates clockwise when changing the position. In the first position and the second position, the power connection plate 221 connected to the driving connection plate 331 on the power section 220 is the same. When the same power connection plate is in different positions, , Connect the same drive connection disk.

The operating arm 30 can also adjust the distance of the main body 310 from the side wall of the housing 210 by a translation method. Specifically, the driving portion of the operating arm is translated relative to the power portion to change from the first position to the second position.

In one embodiment, the driving connection plate 331 of the operation arm 30 is symmetrically disposed, and the power connection plate 221 on the power portion 220 is symmetrically disposed. For example, the number of the power connection disks 221 is the same as the number of the driving connection disks 331, and the driving connection disk 331 is connected to different power connection disks 221 at different positions by rotating the driving part 330. For another example, the number of power connection disks 221 is a multiple of the number of driving connection disks 331. The driving connection disk 331 is connected to different power connection disks 221 at different positions by rotating the driving portion 330. In different positions, the power connection portion 230 Different parts of the power connection disk 221 are connected to the drive connection disk 331.

The power units 220 of the power mechanism 20 are arranged as required. The arrangement of the plurality of power units 220 may be the same as or different from the arrangement of the plurality of bodies 310 located in the cutout area. For example, the power mechanism 20 includes three power sections 220, and a plurality of power sections 220 are arranged in a row. As another example, the power section 220 includes three power sections, and the three power sections are triangularly distributed. For another example, the power sections 220 include four, and the four power sections are distributed in a quadrangular shape. Further, a plurality of power sections are symmetrically disposed on the housing 210.

Please also refer to FIG. 27, which is a schematic structural diagram of an embodiment of the operation arm 30. The main body 310 of the operation arm 30 is disposed on an edge region of the driving portion 330 and is spaced from the rotation axis of the driving portion 330 so that the driving portion 330 When rotating, the distance between the main body 310 and the side wall of the housing 210 is changed. In one embodiment, the main body 310 is tangent to the side surface of the driving portion 330. The main body 310 is disposed on the bottom surface of the driving portion 330. Two side surfaces adjacent to the bottom surface of the driving portion 330 form an included angle, and the main body 310 is located in the included angle region. The bottom surface refers to the surface of the driving portion 330 facing the human body during surgery, and the side surface is a surface adjacent to the bottom surface. The surface on the driving portion 330 for connecting the power mechanism 20 and the surface of the main body 310 may be the same surface or may be the same surface. For different surfaces. In other embodiments, the main body 310 may be disposed on other surfaces of the driving portion 330. It should be noted that the specifications of the driving unit 330 may be the same as or different from the power unit 220. For example, the driving portion and the power portion have the same shape.

From the operation device assembly, the end portions of the main body 310 of the plurality of driving portions 330 are arranged close to each other, and the other ends face different positions, so as to reduce the installation space required for the plurality of driving portions 330, thereby reducing the volume of the operation device. For example, in the embodiment shown in FIG. 22, the other ends of some of the driving portions 330 are opposite to each other, some of the driving portions 330 are the same, and different driving portions 330 are staggered. For another example, in the embodiment shown in FIG. 23, the directions of the other portions of the plurality of driving units 330 are all different.

In one embodiment, as shown in FIG. 23, the slave operating device assembly includes four operating arms, and the specifications of the driving part are basically the same. The driving part has two ends with different specifications, of which the smaller end is provided with a main body, and two Due to different specifications of the end portions, the driving portion has directivity, from the larger end portion to the smaller end portion, where the directivity is the direction of the connection direction of the two end portions. In other embodiments, the specifications of the two end portions of the driving portion may be the same. At this time, the directivity is the direction of the connection direction of the two end portions. The main body may also be provided on different end portions according to needs, for example, setting On the larger end.

Each of the driving portions has an inclined direction with respect to the housing, and it can also be understood that the connecting line of the two ends has an inclined direction with respect to the side of the housing, and the extension lines of the inclined directions of two adjacent driving portions intersect That is, two end portions of two adjacent driving portions intersect with each other, and the extension lines of the inclined directions of the plurality of driving portions do not intersect at one point. In this embodiment, the oblique directions of the plurality of driving portions form a quadrangular region, for example, a parallelogram, a rectangle, a diamond, and the like. In other embodiments, the inclination directions of the plurality of driving portions may also be formed in a fishbone shape, that is, the inclination directions of the three driving portions intersect with the other driving portion. In other embodiments, the inclination directions of the plurality of driving portions may intersect at one point. In this embodiment, the cross section of the driving portion is strip-shaped.

In one embodiment, the cross section of the casing is quadrangular, and the operating arms are four. The main body is distributed in a quadrangular shape, and the two quadrangles are offset, that is, each side of the quadrilateral formed by the main body is equal to each side of the quadrilateral of the cross section of the housing. With an angle. For example, the four driving parts correspond to the four sides of the housing, and the included angle between each driving part and its corresponding side is the same. Further, the housing is a symmetrical housing, and a plurality of driving parts are symmetrically disposed on the housing. on. For another example, among the four driving portions, an included angle between at least a part of the driving portions and a corresponding side surface is different.

In one embodiment, the arrangement and positional relationship of the power section is the same as the arrangement and positional relationship of the operation arm body. For example, the shell is a quadrangle, and the connecting lines of the plurality of power parts are quadrangles, and the quadrangle is offset from the quadrangle of the shell. Specifically, each side has an included angle with the shell, that is, each side is opposite the shell. The corresponding surfaces have an included angle.

In one embodiment, the slave operation device assembly includes a second operation arm and three first operation arms. When a plurality of operation arms extend into the body, the first body is located between the second body and the lesion.

As shown in FIGS. 28 to 32, the operation arm 30 includes two groups. The first operation arm group has a plurality of operation arms and is arranged adjacently to extend into the body from one incision. The second operation arm group has a second operation arm 32. In order to obtain an image of at least the operation arm 30 in the first operation arm group, the second operation arm 32 in the second operation arm group is spaced apart from the plurality of operation arms 30 in the first operation arm group. The spaced-apart setting refers to the distance between a plurality of operating arms in the first operating arm group, and the distance between the two operating arms is relatively large.

When using the above-mentioned slave operating device assembly, the second operating arm 32 in the second operating arm group is firstly extended into the body to acquire an image in the body, and then the first operating arm group operating arm is extended into the body through an incision. The operation arm of an operation arm group is located in the field of view of the second operation arm in the second operation arm group at least during the process of extending into the body. In this way, a better field of view can be obtained from the operating equipment components, so that the operating arm has a larger operating space during the operation, thereby making the operating equipment components more efficient and wider in scope.

In other embodiments, the second operation arm group may also be omitted. At this time, the operator may be provided with a surgical field of view through a capsule endoscope.

In one embodiment, the main bodies of the plurality of operation arms 30 in the first operation arm group are arranged adjacently to extend into the body from one incision. The second body 321 in the second operation arm group and the main bodies of the operation arms of the first operation arm group Separately spaced to provide better visibility. For example, the proximal ends of the plurality of main bodies of the first operation arm group are arranged adjacent to each other. For another example, the middle regions or the distal ends of the plurality of main bodies of the first operation arm group are arranged adjacently. For another example, the distal end of the second body 321 in the second operation arm group is spaced apart from the body of the operation arm 30 in the first operation arm group.

In one embodiment, the main body of the first operation arm group operation arm 30 is located within the field of view of the second operation arm group image portion 322. In other embodiments, the end instruments of the operation arm 30 in the first operation arm group, that is, the operation portion 312 and / or the image portion 322 are located within the field of vision of the second operation arm group image portion 322 to provide a surgical field of view. Alternatively, both the main body and the end instrument of the first operation arm group operation arm 30 may be located in the field of view of the image portion 322 in the second operation arm group operation arm 30.

In one embodiment, the second operation arm group operation arm 30 extends into the body from another incision, that is, the first operation arm group operation arm 30 and the second operation arm group operation arm 30 extend into the body from different incisions. In this way, a plurality of operation arms 30 in the first operation arm group are extended into the body from one incision to perform a surgical operation to reduce the number of wounds. The second operation arm 32 in the second operation arm group is provided for observing the operation arm 30 of the first operation arm group. Better vision. In other embodiments, multiple operating arms 30 extend into the body from one incision, and the two sets of operating arms 30 are spaced apart, so that the second operating arm 32 in the second operating arm group operating arm 30 provides a better field of vision.

In an embodiment, as shown in FIG. 28, the first operation arm group operation arm 30 is the first operation arm 31, and the second operation arm group operation arm 30 is provided from the operation device assembly to provide a field of vision for the operation, so that the first operation The operating space of the arm group operating arm 30 is larger. In other embodiments, as shown in FIG. 31, the first operation arm group operation arm 30 includes a first operation arm 31 and a second operation arm 32, and the first operation arm group and the second operation arm 32 in the second operation arm group. Together provide vision for surgery. In one embodiment, the second operation arm group operation arm 30 is composed of one second operation arm 32, that is, the second operation arm group operation arm 30 includes only one second operation arm 32. In other embodiments, the second operation arm group operation arm 30 further includes a first operation arm 31.

The arrangement manner of the operation arms may be the same as that of the foregoing embodiments, and will not be repeated here.

As shown in FIGS. 29 to 32, the slave operating device assembly further includes a robot arm and a power mechanism provided on the robot arm. The operation arm 30 is used to be installed on the power mechanism and driven by the power mechanism. The robot arm is used for Adjust the position and posture of the operation arm 30. Specifically, the robot arm includes a plurality of connection parts 400 connected in sequence, and two adjacent connection parts 400 form a joint assembly 500. The robot arm adjusts the state of the joint assembly 500 to change the position and posture of the operation arm 30. Among them, The changing state of the joint assembly 500 refers to the relative movement of the connecting portion 400 forming the joint assembly 500 to rotate the joint assembly 500 along a straight line and the like. In other embodiments, the power mechanism may also be omitted. At this time, the power mechanism may be driven by other structures. For example, the operating arm 30 includes a driving structure instead of the power mechanism.

In an embodiment, the slave operating device assembly includes a first robot arm 11, a first power mechanism 21 provided on the first robot arm 11, a second robot arm 12, and a second power provided on the second robot arm 12. Mechanism 22, wherein the first operation arm group operation arm 30 is disposed on the first power mechanism 21, and the second operation arm group operation arm 30 is disposed on the second power mechanism 22.

Further, the slave operating device assembly has a first movement center and a second movement center. Wherein, when the operation arm 30 of the first operation arm group moves along the first movement center, that is, when the posture and position of the operation arm 30 of the first operation arm group are adjusted by the first mechanical arm 11, the operation arm 30 of the first operation arm group moves along the movement center. Movement; the second operation arm group operation arm 30 moves along the second movement center, that is, when the posture and position of the second operation arm group operation arm 30 is adjusted by the second mechanical arm 12, the second operation arm group operation arm 30 moves along the movement center . Among them, the movement along the movement center can be a linear movement along the movement center or a rotation around the movement center, and usually the movement center is an incision area on the patient.

As shown in the embodiment shown in FIGS. 29 to 31, the first robot arm 11 and the second robot arm 12 move relatively independently, that is, when one of the robot arms 10 moves to move the operation arm 30 disposed thereon along the movement center. , Will not affect the position and attitude of the other robotic arm 10 and the upper arm, so that the two sets of operation arms 30 connected to the two robotic arms 10 do not affect each other and move independently along their respective centers of movement.

In one embodiment, each of the first robot arm 11 and the second robot arm 12 has a plurality of joint components 500. At least a part of the joint components 500 in each robot arm 10 are linked to move the operation arm 30 along the movement center. The two robot arms may not share joint components or joint components. When the joint components are shared, the common joint components are non-linked joint components, so that when the two robot arms 10 adjust the attitude and position of the operation arm 30, Move independently of each other. When a plurality of joint components 500 are linked, when any joint of the linked joint components 500 changes state, other joint components 500 linked with it actively change the state according to a preset rule, so that the operation arm 30 moves along the movement center. For example, in the embodiment shown in FIG. 29, the two robot arms do not share joint components. Each joint component 500 in the first robot arm 11 is linked, and each joint component 500 in the second robot arm 12 is linked. For another example, a part of the joints of the first robot arm 11 and / or the second robot arm 12 are linked. For another example, the first robot arm 11 and the second robot arm 12 share part of the joint assembly 500, and the common joint assembly 500 is not linked with other joint assemblies 500 in the two robot arms 10. In other embodiments, the first robotic arm 11 and / or the second robotic arm 12 may not include the linked joint assembly 500, that is, each joint assembly 500 is independently adjusted.

Further, the first robot arm 11 is disposed on the first base, and the second robot arm 12 is disposed on the second base. The first base is independently movable relative to the second base. The first base and / or the second base may be disposed on a fixed area on the ground, a wall, or a ceiling. In other embodiments, the two robot arms 10 may both be disposed on the same base.

In the embodiments shown in FIG. 30 and FIG. 31, the second robot arm 12 is disposed in the first movement center area so that the two robot arms 10 can move relatively independently. At this time, when the first robot arm 11 is adjusted, the operation arm 30 moves along the first movement center. Therefore, when the first robot arm 11 is adjusted, the second robot arm 12 provided in the first movement center area does not move. Change its position and attitude.

Similar to the above embodiments, in this embodiment, each robot arm 10 can move the operating arm 30 along the movement center by linking the joint assembly 500, or it can independently adjust each other without the joint joint assembly 500, which will not be repeated here. .

In an embodiment, the operation device assembly further includes a stamp card, and the second robot arm 12 is configured to be disposed on the stamp card, so that the operation arm 30 provided on the second robot arm 12 and the operation arm 30 penetrating the stamp card are mutually Independence movement. That is, when the first operation arm group operation arm 30 provided on the first robot arm 11 passes through the stamp card, it and the second operation arm group operation arm 30 provided on the second robot arm 12 move independently from each other. According to the actual needs, the stamp card can also be omitted.

The second robot arm 12 and the stamp card can have multiple connection modes. For example, the proximal end of the second robot arm 12 is sleeved with a stamp card. Specifically, the stamping card is provided with an annular groove, and the proximal end of the second robot arm 12 is cooperatively connected with the annular groove. Wherein, the stamping card is also provided with a plurality of positioning units, which are arranged near the grooves to position the second robot arm 12 during installation. For another example, the proximal end of the second robot arm 12 is engaged with the stamp card, wherein the proximal end of the second robot arm 12 and the stamp card have matching engaging portions to be engaged with each other. It should be noted that the second mechanical arm 12 may be detachably connected to the stamp card, or may be integrated with the stamp card and cannot be removed.

In an embodiment, the slave operating device further includes a weight block, which is arranged on the stamp card to weight the second mechanical arm 12 and the second power mechanism 22. For example, a counterweight block sets a stamp card; for another example, the counterweight block is connected to the stamp card; for another example, there are a plurality of counterweight blocks which are detachably connected to the stamp card and / or a plurality of counterweight blocks. They are detachably connected to each other to perform weighting according to the weight of the robot arm 10 provided on the stamp card.

In other embodiments, the first robotic arm 11 and the second robotic arm 12 can also move independently of each other, that is, the movement of one of the robotic arms 10 will cause the state of the other robotic arm 10 to change.

In the embodiment shown in FIG. 32, the first robot arm 11 and the second robot arm 12 each include a plurality of joint components 500, and the first robot arm 11 and the second robot arm 12 share at least one joint component 500, and the first robot arm 11. At least part of the joint components in the second joint robotic arm 10 are linked, and the common joint component 500 is a linked joint component 500, so that the operation arm 30 provided on the first robotic arm 11 moves along the first movement center, and is disposed on the The operation arm 30 on the second robot arm 12 moves along the second movement center. In other embodiments, the joint components 500 in the first robot arm 11 are linked, and / or the joint components 500 on the second robot arm 12 are linked.

When the first robotic arm 11 is adjusted by the linkage joint assembly 500 as described above, the rest of the joint arm 500 associated with the manipulation arm 30 is adjusted accordingly, so that the manipulation arm 30 provided on the first robotic arm 11 is adjusted. Move along the first movement center. Since the joint assembly 500 shared by the second robotic arm 12 and the first robotic arm 11 is both a linkage joint assembly 500 in the first robotic arm 11 and a linkage joint assembly 500 in the second robotic arm 12, When the first robot arm 11 is adjusted, the linkage joint assembly 500 of the second robot arm 12 is adjusted accordingly, so that the operation arm 30 provided on the second robot arm 12 moves along the second movement center. In this way, when one of the robot arms 10 is adjusted, the operation arm 30 provided on the other robot arm 10 is still located at the movement center.

In one embodiment, when the linkage joint assembly 500 of one of the robotic arms 10 is adjusted with the other robotic arm 10, the relative position between the operation arms 30 disposed on the two robotic arms 10 after the adjustment remains unchanged. For example, when the linkage joint assembly 500 in the first robotic arm 11 is adjusted, the linkage joint assembly 500 in the second robotic arm 12 is adjusted accordingly, that is, the second robotic arm 12 follows the first robotic arm 11 through the linkage joint assembly 500 Adjustment. As another example, when the second robot arm 12 is adjusted, the first robot arm 11 follows the adjustment.

In this way, when the operation arm 30 on one of the robot arms 10 is adjusted, the relative relationship between the operation arm 30 on the other robot arm 10 and it will not be affected. When the two cooperate with each other, for example, the second robot arm 12 A second operating arm 32 is provided for observing the operating arm 30 on the first robotic arm 11 without affecting the observation of the operating arm 30 on the first mechanical arm 11 by the second operating arm 32 on the second mechanical arm 12 .

The first robot arm 11 includes a first connection portion 410 and a second connection portion 420 which are sequentially connected, and the second robot arm 12 includes a first connection portion 410 and a third connection portion 430 which are sequentially connected, wherein the first robot arm 11 and The second robot arm 12 shares the first connection portion 410. In one embodiment, there are multiple second connection portions 420 and / or multiple third connection portions 430. In other embodiments, there may be only one second connection portion 420 and third connection portion 430.

Specifically, the second connection portion 420 and the third connection portion 430 are both disposed on the same first connection portion 410. For example, the second connection portion and the third connection portion are disposed in the same region of the first connection portion; for another example, the second connection portion 420 and the third connection portion 430 are disposed in different regions of the first connection portion 410.

In other embodiments, when the first robot arm 11 and the second robot arm 12 share the joint assembly 500, the second robot arm 12 may also be passively adjusted following the first robot arm 11, that is, the second robot arm 12 is located at least at the distal end. The joint assembly 500 is passively adjusted. For example, the position of the operating arm 30 provided on the second mechanical arm 12 is adjusted by the cutout provided therethrough to limit the position. When the first mechanical arm 11 is adjusted to drive the operating arm 30 provided on the second mechanical arm 12 to move with it, the second mechanism The operating arm 30 on the arm 12 is restricted by its cutout, thereby driving the joint assembly 500 at the distal end of the second mechanical arm 12 to adjust. For another example, the multiple joint components 500 at the distal end of the second robot arm 12 are passively adjusted joint components.

It should be noted that the structure of each robot arm 10 may be the same as the structure of the related robot arm in the Chinese patent application with the application number of 201810664598.2, and will not be repeated here. The first robotic arm 11 and the second robotic arm 12 share at least the joint assembly 500 located at the proximal end, for example, the first joint assembly, and for example, the first joint assembly and the second joint assembly.

Further, at least one of the first mechanical arm 11 and the first power mechanism 21 is connected to at least one of the second mechanical arm 12 and the second power mechanism 22 to the same control unit. For example, the first robot arm 11, the first power mechanism 21, the second robot arm 12, and the second power mechanism 22 are all connected to the same control section, so that the main operation platform can simultaneously control the two sets of operation arms 30 for surgical operations. .

As shown in FIG. 33 to FIG. 36, the second robot arm 12, the operation arm 30 provided on the second robot arm 12, and the second power mechanism may also be replaced by a hanging endoscope 50. Among them, the hanging type The endoscope 50 is used to clamp an incision area where the operation arm 30 extends into the body. It should be noted that the hanging endoscope 50 may be located in the same incision with the operation arm 30 provided on the first robot arm 11, or may be located in a different incision.

The hanging endoscope 50 includes a first clamping portion 600, a second clamping portion 700, a connecting member 800, and an image portion 322. The connecting member 800 connects the first clamping portion 600 and the second clamping portion 700. The first clamping portion 600 is used to extend into the body, and the second clamping portion 700 is located outside the body and is used to cooperate with the first clamping portion 600. The notch region is clamped, and the image portion 322 is disposed on the first clamp portion 600.

The above-mentioned hanging endoscope clamps the skin of the incision area on the patient's body through two clamping parts to be fixed on the patient's body, and the connecting piece of the hanging endoscope can be located on a stamp card or rubber provided in the incision area. Between the protective cover and the skin of the incision area, the hanging endoscope is more firmly placed on the incision. The hanging endoscope provided in the incision area observes the inside of the body through the image section.

In one embodiment, the connecting member 800 can adjust the distance between the first clamping portion 600 and the second clamping portion 700. For example, the connecting member 800 is a flexible connecting member 800, and the distance between the two clamping portions is adjusted by bending the connecting member 800. For another example, there are multiple connecting members 800, which are detachably connected to the two clamping portions, and the distance between the two clamping portions is adjusted by connecting different connecting members 800.

In one embodiment, the image portion 322 is disposed in a free end region of the first clamping portion 600. For example, there is one image portion 322 and it is located in the free end region of the first clamping portion 600. As another example, there are a plurality of image portions 322, and the plurality of image portions 322 are all located in the free end region of the first clamping portion 600.

As shown in FIG. 32 and FIG. 33, the optical axis of the image part 322 of the hanging endoscope 50 and the part of the operating arm 30 protruding into the body form a first angle. That is, the optical axis of the hanging endoscope 50 and the portion of the operation arm 30 provided on the first robot arm 11 extending into the body form a first angle to better provide a field of vision for the operation. For example, the optical axis forms a first angle with the main body of the operation arm 30 on the first robot arm 11. For another example, the optical axis forms a first angle with the end instrument of the operation arm 30 on the first robot arm 11. Further, the first included angle is an acute angle or a right angle. For example, the first included angle is 40 to 70 degrees. For another example, the first included angle is 30 to 60 degrees.

As shown in the embodiment shown in FIG. 34, the first clamping portion 600 has a first body 610 and a second body 620 connected in sequence. The first body 610 is connected to the connecting member 800, and the image portion 322 is disposed on the second body 620. The second body 620 forms a second angle with the first body 610, so that the optical axis of the image portion 322 of the hanging endoscope 50 and the portion of the first operation arm group operation arm 30 protruding into the body form the first Angle. In this embodiment, the second included angle is an obtuse angle, for example, the second included angle is 100 to 140 degrees.

The second body 620 is adjustable relative to the first body 610 to change the second included angle. For example, the second body is swingable relative to the first body to adjust the angle of the second included angle. As another example, the second body is a flexible body, which can adjust the posture to adjust a first angle between the optical axis of the image portion and the operation arm.

In other embodiments, as shown in FIG. 36, the image portion 322 may be disposed obliquely with respect to the first clamping portion 600 so that the optical axis thereof forms a first angle with the operation arm 30.

It should be noted that, in an embodiment, the hanging endoscope 50 further includes a connection component 300. The connection component 300 sets the image portion 322 on the first clamping portion 600 to adjust the position and posture of the image portion 322. When it has the connection assembly 300, the hanging endoscope 50 further includes a power part of the hanging endoscope 50 to drive the connection assembly 300 to move.

The technical features of the embodiments described above can be arbitrarily combined. In order to simplify the description, all possible combinations of the technical features in the above embodiments have not been described. However, as long as there is no contradiction in the combination of these technical features, It should be considered as the scope described in this specification.

The above-mentioned embodiments only express several implementation manners of the present invention, and their descriptions are more specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims

A slave operating device assembly includes: three operating arms, the operating arms having a main body, and the three main bodies are disposed adjacent to each other so that the three operating arms extend into the body from one incision, and the three main bodies The portions located in the cutout area are arranged in a straight line in order.
The slave operating device assembly according to claim 1, wherein the main body is a straight rod; or, the main body is a flexible main body, and a plurality of the main bodies are sequentially arranged along a straight line in the cutout area.
The slave operating device assembly according to claim 1, wherein a plurality of the main bodies abut sequentially in the cutout region.
The slave operation device assembly according to claim 1, wherein the operation arm includes a first operation arm and a second operation arm, and the first operation arm has a first body and an operation portion provided on the first body, The second operation arm includes a second body and an image portion provided on the second body.
The slave operating device assembly according to claim 4, wherein the second body is located in a middle region of a plurality of the bodies aligned in a straight line.
The slave operating device assembly according to claim 4, the slave operating device assembly comprising two of the first operating arms, and the second body being located between the two first bodies.
The slave operating device assembly according to claim 4, wherein the second body is located at an end position among a plurality of the bodies arranged in a row.
The slave operation device assembly according to claim 1, wherein the operation arm includes four, wherein at least three of the main bodies of the operation arm are arranged in a straight line.
The slave operating device assembly according to claim 8, wherein the portions of the main bodies of the four operating arms located in the cutout area are arranged in a triangle, and the main bodies of the three operating arms arranged in a line form the triangle. One of the edges.
The slave operation device assembly according to claim 9, wherein the operation arm includes a first operation arm and a second operation arm, and the first operation arm has a first body and an operation portion provided on the first body, The second operation arm includes a second body and an image portion provided on the second body. The main bodies of the three operation arms are arranged in a straight line, and the other operation arm is the second operation arm. .
The slave operation device assembly according to claim 10, wherein the operation arms in which the three main bodies are aligned in a straight line are the first operation arms.
The slave operation device assembly according to claim 4, wherein the operation portion is located between the lesion and the image portion.
The slave operation device assembly according to claim 4, the first operation arm further comprises a connection assembly, and two ends of the connection assembly are respectively connected to the first body and the operation portion, and the first operation arm passes through The connection component adjusts the position and posture of the operation portion relative to the first body;

And / or, the second operation arm further includes a connection component, and two ends of the connection component are respectively connected to the second body and the image part, and the second operation arm adjusts the image through the connection component. The position and posture of the part relative to the second body.
The slave operating device assembly according to claim 13, wherein the operating portion is located between the image portion and a lesion when the operating portion is in an adjustment range area.
The slave operation device assembly according to claim 13, wherein the image portion is located between two of the plurality of operation portions having the largest distance.
According to the slave operating device assembly according to claim 13, when the two operation parts with the greatest distance are located at extreme positions, the image part is located in a middle region of the two operation parts.
The slave operating device assembly according to claim 4, wherein the operating arms include two groups, a first group having a plurality of the operating arms and being arranged adjacently to extend into the body from one incision, and a second group having the first Two operation arms are used to acquire images of at least the first group of the operation arms, and the second operation arms in the second group are spaced apart from a plurality of the operation arms in the first group.
The slave operating device assembly according to claim 17, wherein the second group of the operating arms extends into the body from another incision.
The slave operation device assembly according to claim 17, wherein the operation portion and / or the image portion of the operation arm of the first group are located within a field of view of the image portion of the second group.
The slave operating device assembly according to claim 17, wherein the slave operating device assembly further comprises: a first mechanical arm, a first power mechanism provided on the first mechanical arm, a second mechanical arm, A second power mechanism provided on the second mechanical arm, a first group of the operation arms are provided on the first power mechanism, and a second group of the operation arms are provided on the second power mechanism. The slave operation device assembly has a first movement center, the first group of the operation arms moves along the first movement center, the slave operation device assembly has a second movement center, and the second group of the operation arms moves along the first Second movement center movement.