WO2022104771A1 - Robot chirurgical - Google Patents

Robot chirurgical Download PDF

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Publication number
WO2022104771A1
WO2022104771A1 PCT/CN2020/130806 CN2020130806W WO2022104771A1 WO 2022104771 A1 WO2022104771 A1 WO 2022104771A1 CN 2020130806 W CN2020130806 W CN 2020130806W WO 2022104771 A1 WO2022104771 A1 WO 2022104771A1
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WO
WIPO (PCT)
Prior art keywords
suspension
surgical
arm
surgical robotic
robotic arm
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Application number
PCT/CN2020/130806
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English (en)
Chinese (zh)
Inventor
黄善灯
潘鲁锋
柳建飞
Original Assignee
诺创智能医疗科技(杭州)有限公司
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Application filed by 诺创智能医疗科技(杭州)有限公司 filed Critical 诺创智能医疗科技(杭州)有限公司
Priority to PCT/CN2020/130806 priority Critical patent/WO2022104771A1/fr
Publication of WO2022104771A1 publication Critical patent/WO2022104771A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the embodiments of the present application relate to the field of medical devices, and in particular, to a surgical robot.
  • the complex surgical environment and operation tasks require the robot to have flexible pose adjustment capabilities and a wide range of motion characteristics.
  • multiple surgical robotic arms are located on the same plane, which not only results in a large size of the surgical robot and a large footprint, but also has a small range of motion for each surgical robotic arm. Movement interference is easy to occur between the surgical robotic arms, which affects the surgical process.
  • a surgical robot including a frame, at least two switching mechanisms, and at least two surgical robotic arms, at least one surgical robotic arm being disposed on the frame through one switching mechanism,
  • the transfer mechanism drives the connected surgical manipulator to rotate relative to the frame in the circumferential direction, and two adjacent transfer mechanisms are stacked on the frame, so that the surgical manipulators on different transfer mechanisms are located in the same position. at different heights of the rack.
  • the surgical robotic arms of the surgical robot in the present application are arranged in layers by means of switching mechanisms with different height positions. Compared with the traditional robotic arms located on the same plane, the design of multi-layer arrangement is adopted in space, which improves the performance of different levels.
  • the multi-arm cooperation capability of the surgical robotic arm in any plane of space can reduce the space volume required by the surgical robot and meet diverse surgical requirements.
  • the transfer mechanism includes at least one driver, and the surgical robotic arm is rotatably connected to the driver; or, the transfer mechanism includes at least one driver and at least one reducer, the driver It is rotatably connected with the surgical robotic arm through the speed reducer.
  • the rack includes a hoisting mechanism and a hoisting bracket, the transfer mechanism is provided on the hoisting bracket, and the hoisting mechanism is rotatably connected to the hoisting bracket.
  • This arrangement can increase the flexibility of the hanging bracket, make the movement of the surgical robotic arm more flexible, and facilitate the doctor to perform various surgical operations.
  • the surgical robotic arm further includes a transverse arm and a sliding arm, the transverse arm is fixedly connected to the transition mechanism, and the sliding arm is movably connected to the transverse arm.
  • the distance between the surgical manipulator and the bracket can be adjusted, which effectively avoids the problem of position conflicts when multiple surgical manipulators are rotated, and enables the operation of the surgical manipulator.
  • the adjustment of the mechanical arm is more flexible.
  • the surgical robotic arm further includes a preoperative positioning mechanism and an executing mechanism that are connected to each other, the preoperative positioning mechanism is rotatably connected to the sliding arm, and the preoperative positioning mechanism can The actuator is driven to move, and the actuator has multiple degrees of freedom and can perform surgical operations.
  • the preoperative positioning mechanism can realize a wide range of coarse adjustment of the surgical robotic arm, and the actuator has multiple degrees of freedom, which can realize fine-tuning of the surgical instrument, making the surgical instrument more flexible when performing surgical operations.
  • the preoperative positioning mechanism includes at least two telescopic arms, and the two telescopic arms are rotatably connected by a rotating joint
  • the execution mechanism includes a parallel motion platform and a surgical instrument
  • the The parallel motion platform includes a static platform, a moving platform and a plurality of telescopic components arranged between the static platform and the moving platform
  • the surgical instrument is arranged on the moving platform
  • one of the telescopic arms is connected to the static platform.
  • the platform is connected, and the other telescopic arm is rotatably connected with the sliding arm.
  • the surgical robot further includes a suspension mechanism, the suspension mechanism includes at least one suspension arm and at least one set of suspension components, the suspension arm is mounted on the surgical robot arm,
  • Each group of suspension components includes a suspension cable and a suspension piece, the diameter of the suspension cable is smaller than the width dimension of the suspension piece in the diameter direction of the suspension cable, and the suspension cables of at least one group of suspension components The upper end is connected with one of the suspension arms, and the lower end of the suspension cable is directly or indirectly connected with the suspension piece.
  • the surgical robotic arm device has a suspension mechanism, which can pull the abdominal wall tissue through the suspension mechanism, so that a certain space is formed between the abdominal wall tissue and the intra-abdominal organs, which increases the doctor's surgical field of vision and facilitates the doctor to perform surgical operations, and It does not cause damage to the intra-abdominal organs, and can avoid the displacement of the intra-abdominal organs.
  • the method of suspending the abdominal wall has less surgical risk and reduces the probability of postoperative complications such as hypercapnia, air embolism, and blood stasis.
  • the suspension cable is used to reduce the radial size required to open the threading channel through which the suspension cable in the abdominal cavity penetrates the abdominal wall and extends to the outside of the human body.
  • the suspension piece is used to raise the height of the abdominal wall. It is flexible, so the suspension cable leaves room for height adjustment and angle adjustment for the suspension. With this arrangement, the doctor will not be affected by the suspension mechanism during the minimally invasive surgery.
  • the upper end of the suspension member is recessed inward to form a groove, and an accommodating channel for the suspension cable to pass through is opened on the groove wall of the groove.
  • a sling is inserted into the accommodating channel through the groove.
  • the deformation resistance of the abdominal wall in the groove is improved under the extrusion of external force, in other words, the hardness of the abdominal wall in the groove is improved to achieve Attenuates the trauma of the sling to the abdominal wall.
  • the suspension member also changes the main contact position of the suspension member and the abdominal wall through the groove, that is, the suspension member exerts a force on the abdominal wall through the groove wall of the groove.
  • the suspension mechanism further includes a driver, the driver is provided on the surgical robotic arm, the suspension arm is connected to the driver, and the driver drives the robot through the suspension arm.
  • the suspension mechanism is close to or away from the surgical robotic arm.
  • the retractable suspension arm has the following advantages: 1.
  • the angle of the suspension cable is adjustable, and the angle between the suspension cable and the abdominal wall can be adjusted by changing the direction in which the suspension cable pulls the abdominal wall; Mutual interference occurs; 3.
  • By adjusting the position of the suspension cable avoid the suspension cable from blocking the doctor's field of vision during the operation.
  • the frame includes a column and a beam, at least one surgical robotic arm is arranged on the beam through an adapter mechanism, the beam is rotatably connected to the column, and the column is a telescopic column and /or the beams are telescopic beams.
  • the column can realize the adjustment of the frame in the height direction
  • the beam can realize the adjustment of the frame in the horizontal direction
  • the beam can also adjust the distance between the surgical robotic arm and the column, which is convenient for the surgical robot to be located in the best surgical position. .
  • FIG. 1 is a schematic structural diagram of a surgical robot in Embodiment 1 of the present application.
  • FIG. 2 is a schematic structural diagram of a surgical robotic arm in the surgical robot shown in FIG. 1 .
  • FIG. 3 is a schematic diagram of a part of the structure of the surgical robot shown in FIG. 1 .
  • FIG. 4 is a schematic structural diagram of the actuator shown in FIG. 1 .
  • FIG. 5 is a schematic structural diagram of a surgical robot in Embodiment 4 of the present application.
  • FIG. 6 is a cross-sectional view of the suspension member in the fourth embodiment of the present application.
  • FIG. 7 is a cross-sectional view of the suspension member in the fourth embodiment of the present application.
  • FIG. 8 is a cross-sectional view of the suspension member in Embodiment 5 of the present application.
  • FIG. 9 is a cross-sectional view of the suspension member in Embodiment 5 of the present application.
  • FIG. 10 is a perspective view of a part of the surgical robot in the sixth embodiment of the present application.
  • FIG. 11 is a bottom view of FIG. 10 .
  • FIG. 12 is a schematic cross-sectional view of the section A-A in FIG. 11 .
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , it can also be integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two components or two components. interactions, unless otherwise expressly defined.
  • the specific meanings of the above terms in this application can be understood according to specific situations.
  • the technical solutions of the present application will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.
  • FIG. 1 is a schematic structural diagram of a surgical robot 100 in Embodiment 1 of the present application
  • FIG. 2 is a structural schematic diagram of a surgical robotic arm 20 in the surgical robot 100 shown in FIG. 1 ;
  • the present application provides a surgical robot 100 for assisting a doctor in performing surgical operations.
  • the surgical robot 100 is used for minimally invasive surgery. It can be understood that, in other embodiments, the surgical robot 100 may also be used to assist a doctor in performing other surgical operations.
  • the surgical robot 100 includes a rack 10 and a plurality of surgical robotic arms 20 , and the rack 10 is used to carry the surgical robotic arms 20 .
  • the frame 10 includes a column 12 and a beam 13. At least one surgical robotic arm 20 is arranged on the beam 13 through a transfer mechanism 30.
  • the beam 13 is rotatably connected to the column 12.
  • the column 12 is a telescopic column and/or the beam 13 is a telescopic beam.
  • the beam can drive the surgical robotic arm 20 to move in the horizontal direction, and the telescopic column drives the beam 13 to move in the vertical direction.
  • the "vertical direction” refers to the direction perpendicular to the horizontal plane.
  • the rack 10 further includes a base 11 , and the upright column 12 is fixedly connected to the base 11 .
  • the upright column 12 and the beam 13 are connected in rotation, which is convenient for adjusting the position of the beam 13 .
  • the column 12 and the beam 13 can also be fixedly connected, and the beam 13 can be rotated relative to the base 11 through other positions.
  • the column 12 and the base 11 are rotationally connected.
  • the upright column 12 rotates relative to the base 11 and drives the beam 13 to rotate.
  • the surgical robotic arm 20 provided in the present application includes a preoperative setting mechanism 21 and an executing mechanism 22, and the preoperative setting mechanism 21 and the executing mechanism 22 are connected to each other.
  • the preoperative positioning mechanism 21 is used to move the actuator 22 roughly to a position close to the lesion; the parallel motion platform on the actuator 22 is used to finely control the spatial position of the surgical instrument 224 on the actuator 22 within a certain range.
  • the preoperative positioning mechanism 21 is used to roughly adjust the actuator 22 within a certain range of spatial positions.
  • the preoperative positioning mechanism 21 includes at least one telescopic arm (not numbered) and at least one rotating joint (not numbered).
  • the telescopic arm can drive the actuator 22 to move, and the rotary joint can drive the actuator 22 to rotate.
  • the preoperative swing mechanism 21 includes a first telescopic arm (not numbered) and a second telescopic arm (not numbered).
  • the upper end of the telescopic arm is connected to the frame 10 of the surgical robot 100
  • the lower end of the second telescopic arm is connected to the actuator 22 .
  • the first telescopic arm includes a first sleeve 211 and a second sleeve 212.
  • the first sleeve 211 is fixedly connected to the frame 10 of the surgical robot 100, the second sleeve 212 is rotatably connected to the rotating joint, and the first sleeve 211 is sleeved
  • a second sleeve 212 is provided, and the first sleeve 211 can move axially relative to the second sleeve 212;
  • the second telescopic arm includes a third sleeve 213 and a fourth sleeve 214, and the third sleeve 213 rotates with the rotating joint
  • the fourth sleeve 214 is fixedly connected with the actuator 22 , the third sleeve 213 is sleeved with the fourth sleeve 214 , and the fourth sleeve 214 can move axially relative to the third sleeve 213 .
  • the power source required for the axial movement of the first sleeve 211 relative to the second sleeve 212 can be derived from drives such as cylinders, oil cylinders, and motors, and the power required for the axial movement of the fourth sleeve 214 relative to the third sleeve 213
  • the source can come from drives such as cylinders, oil cylinders, and motors.
  • the preoperative positioning mechanism 21 may also be provided with only one telescopic arm, which is rotatably connected to the actuator 22 through a rotating joint; of course, the preoperative positioning mechanism 21 may also be provided with more telescopic arms, And set the connection mode between each manipulator as needed.
  • the actuator 22 includes a parallel motion platform (not numbered) and a surgical instrument 224.
  • the parallel motion platform has multiple degrees of freedom and can drive the actuator 22 to perform flexible surgical operations, so that the surgical instrument 224 takes the telecentric fixed point as the swing center. Subtle position adjustment; the surgical instrument 224 is located at one end of the parallel motion platform relatively far from the preoperative positioning mechanism 21 , and the surgical instrument 224 can move slightly through its own swing, rotation and other actions to perform surgical operations.
  • the surgical instrument 224 may be an electric knife, forceps, clips or hooks, or other surgical instruments 224, which will not be described in detail here.
  • the surgical instrument 224 is usually detachably installed on the parallel motion platform, and can be replaced with different surgical instruments 224 to complete different surgical operations according to different surgical needs, or according to the needs of different surgical stages of the same operation.
  • the parallel motion platform has six degrees of freedom of motion; the parallel motion platform is connected to the preoperative setting mechanism 21 .
  • the parallel motion platform By setting the parallel motion platform with six degrees of freedom of movement, it can not only ensure the motion accuracy of the end of the surgical robotic arm 20 and the requirements of the telecentric fixed point, but also make the position of the preoperative positioning mechanism 21 fixed during the operation. The surgical precision of the surgical robotic arm 20 when performing surgery.
  • the position fixation of the preoperative positioning mechanism 21 is realized based on the actuator 22 having multiple degrees of freedom, while the traditional da Vinci surgical robot has multiple arms in the surgical robotic arm.
  • the arms are all set in series. During the operation, multiple arm segments must cooperate and cooperate to realize the flexible adjustment of the surgical instruments.
  • the parallel motion platform in the actuator 22 can also be replaced according to actual needs, and other driving methods can be adopted.
  • the telecentric fixed point referred to herein refers to a fixed fixed point selected by the surgical instrument 224 along its length direction, and the movement of the surgical instrument 224 under the control of the parallel motion platform It has the regularity of swinging around the point, and the point does not move. Specifically, the swing of the surgical instrument 224 will take the telecentric fixed point as the swing center, and the forward and backward telescopic motion of the surgical instrument 224 will move along the telecentric fixed point.
  • the surgical instrument 224 enters the abdominal cavity through the wound on the abdominal wall.
  • the position of the fixed point of the telecentricity is the position of the wound on the outer surface of the abdominal wall during the operation;
  • the purpose of the regularity of the moving points is to ensure that during the movement of the surgical instrument 224, the area of the abdominal wall wound will not be enlarged due to the movement of the surgical instrument 224, which is the premise of minimally invasive surgery.
  • the position of the telecentric fixed point is not necessarily fixed during the whole operation.
  • the position of the telecentric fixed point is selected in a single operation, but in different operations is changeable. For example, when a doctor performs surgical operations on wounds at different places, the two surgical operations on the wounds will cause the control device to select telecentric fixed points at different positions in different time periods according to the actual length of the surgical instrument 224 and other parameters. It is sufficient to ensure that the movement under a single surgical operation forms a regular movement relative to the telecentric fixed point.
  • the da Vinci surgical robot usually uses a series mechanism to perform surgical operations.
  • the series mechanism is characterized by a slender structure, and multiple mechanical arms sometimes interfere and collide during the operation, which will affect the normal operation of the operation.
  • the series arrangement will cause the error and response time of each mechanical structure to accumulate in sequence, and finally the error during the movement of the surgical instrument is relatively large, which increases the risk of surgical operation.
  • FIG. 4 is a schematic structural diagram of the actuator 22 shown in FIG. 1 .
  • the parallel motion platform includes a static platform 221, a moving platform 222, and a plurality of telescopic components 223 disposed between the static platform 221 and the moving platform 222.
  • the side of the static platform 221 relatively far away from the moving platform 222 is connected to the preoperative position In the mechanism 21, the side of the movable platform 222 that is relatively far away from the static platform 221 is connected to the surgical instrument 224; the two ends of the plurality of telescopic components 223 are respectively connected to the static platform 221 and the movable platform 222 in rotation.
  • the number of telescopic components 223 between the moving platform 222 and the static platform 221 determines the freedom of movement of the moving platform 222 relative to the static platform 221.
  • the static platform 221 has six degrees of freedom of movement, and can drive the actuator 22 to move with the telecentric fixed point as the swing center to perform surgical operations.
  • the static platform 221 is roughly cylindrical or truncated, one side of the static platform 221 is used to connect the preoperative positioning mechanism 21, and the other side is used to connect the telescopic assembly 223; A plurality of installation grooves for installing the rotating parts can accommodate part of the rotating parts, so as to reduce the overall size of the surgical robot 100 .
  • the end of the second sleeve 212 takes into account the role of the static platform 221 and is rotatably connected to the telescopic assembly 223 . It can be understood that, in other embodiments, a static platform 221 for installing the telescopic assembly 223 may also be provided.
  • the movable platform 222 is roughly cylindrical or truncated, one side of the movable platform 222 is used to connect the telescopic assembly 223, and the other side is used to connect the actuator 22;
  • the installation groove for installing the rotating member can accommodate part of the rotating member, so as to reduce the overall size of the surgical robot 100 .
  • Each telescopic assembly 223 includes a drive member that can be driven independently, and each telescopic assembly 223 can be used to change the movable platform 222 and the static platform by cooperating with the expansion and contraction.
  • the relative positional relationship between 221 realizes the rotation, swing, deflection and other movements of the moving platform 222 .
  • the plurality of telescopic assemblies 223 are arranged in parallel rather than in series, and errors of the plurality of telescopic assemblies 223 are not only not accumulated and transmitted, but may also cancel each other out.
  • each telescopic assembly 223 is driven independently, the response time of the multiple telescopic assemblies 223 will not be cumulatively transmitted, so the precise control of the surgical instrument 224 through the parallel motion platform can reduce the displacement error during surgery and Shorten response time.
  • the surgical instrument 224 due to the improvement of the control accuracy of the surgical instrument 224 by the parallel motion platform, under the condition of the same accuracy as the traditional Da Vinci surgical robot 100, the surgical instrument 224 can carry a larger load, so it can complete more complicated operations .
  • the parallel motion platform since the parallel motion platform has six degrees of freedom, it can flexibly drive the actuator 22 to adjust the position. Therefore, when performing a surgical operation, the preoperative positioning mechanism 21 is stationary, and the execution is performed only by the parallel motion platform. The position of the mechanism 22 is adjusted.
  • the preoperative setting mechanism 21 when performing a surgical operation, the preoperative setting mechanism 21 is static", which means that the preoperative setting mechanism 21 is static during a certain stage of surgical operation.
  • the surgical robotic arm 20 can be changed by moving the preoperative positioning mechanism 21 .
  • a certain operation needs to use a knife to excise the lesion first, and then use a thread to suture the lesion.
  • at least two surgical robotic arms 20 are required, wherein the surgical instrument 224 of one surgical robotic arm 20 is a knife, and the other surgical The surgical instruments 224 of the robotic arm 20 are forceps.
  • the surgical robotic arm 20 with a knife is moved to the vicinity of the lesion through the preoperative positioning mechanism 21.
  • the entire preoperative positioning mechanism 21 no longer moves, but The cutting of the lesion is realized by the parallel motion platform.
  • the surgical robotic arm 20 with the cutter is removed through the preoperative positioning mechanism 21 , and another surgical robotic arm 20 with forceps is moved to the lesion through the preoperative positioning mechanism 21 on the surgical robotic arm 20 .
  • the surgical operation in the suturing stage is performed; during the operation in the suturing stage, the preoperative positioning mechanism 21 is also stationary, and the suturing of the lesion can be realized only through the parallel motion platform.
  • This surgical method of "when performing a surgical operation, the preoperative positioning mechanism 21 is stationary" is realized based on the above-mentioned parallel motion platform. It is precisely because the parallel motion platform has multiple degrees of freedom, it can realize the flexibility of the surgical instruments 224. Only by adjusting, can the preoperative setting mechanism 21 be stationary during the surgical operation. However, multiple adjustment structures in the surgical manipulator of the traditional Da Vinci surgical robot are arranged in series. During the operation, multiple adjustment structures must cooperate and cooperate to realize the flexible adjustment of the surgical instruments.
  • a plurality of rotational connection points between each telescopic component 223 and the moving platform 222 are arranged in a circle, and the rotational connection points between each telescopic component 223 and the static platform 221 are common Circle setting; the diameter of the circle formed by the rotation connection points on the moving platform 222 is larger than the diameter of the circle formed by the rotation connection points on the static platform 221 .
  • the moving platform 222 has less vibration during the movement relative to the static platform 221, and the total amount of errors between the telescopic components 223 can be compensated for each other, thereby improving the stability of the parallel moving platform.
  • cross-sections of the static platform 221 and the moving platform 222 in the radial direction can be circular, polygonal, or other irregular shapes, as long as the multiple rotational connection points of each telescopic assembly 223 are in the static state.
  • the platform 221 and the movable platform 222 may be arranged in a common circle.
  • multiple surgical robotic arms 20 are located on the same plane, which not only causes the surgical robot 100 to be large in size and occupies a large area, but also causes the range of motion of each surgical robotic arm 20 Small, movement interference between multiple surgical robotic arms 20 is likely to occur, which affects the surgical process.
  • the surgical robot 100 in the present application further includes at least two switching mechanisms 30, at least one surgical robotic arm 20 is disposed on the beam 13 of the frame 10 through one switching mechanism 30, and the switching mechanism 30 drives the operation connected to it.
  • the robotic arm 20 rotates circumferentially relative to the frame 10 , and two adjacent switching mechanisms 30 are stacked on the frame 10 , so that the surgical robotic arms 20 on different switching mechanisms 30 are located at different heights of the frame 10 .
  • the surgical manipulator 20 of the surgical robot 100 has different heights through the stacked rotating mechanisms. Compared with the traditional surgical manipulators located on the same plane, a hierarchical arrangement is adopted in space, which improves the level of different levels.
  • the multi-arm cooperation capability of the surgical robotic arm 20 in any spatial plane can reduce the space volume required by the surgical robot 100 and meet diverse surgical requirements.
  • the adapter mechanism 30 includes at least one driver (not shown), and the surgical robotic arm 20 is rotatably connected to the driver; or, the adapter mechanism 30 includes at least one driver (not shown) and at least one reducer ( Not shown), the driver is rotatably connected to the surgical robotic arm 20 through a reducer.
  • each surgical robotic arm 20 is individually driven by a drive.
  • the driver can choose motor or other common driver.
  • the surgical robot 100 further includes a hoisting mechanism 40 and a hoisting bracket 50 .
  • the hoisting mechanism 40 is installed on the end of the beam 13 of the rack 10 , the transfer mechanism 30 is arranged on the hoisting bracket 50 , and the hoisting mechanism 40 is connected to the hoisting bracket 50 . 50 turn connections.
  • each hanging bracket 50 includes a fixing plate 51 and a supporting plate 52, the supporting plate 52 is arranged between the two fixing plates 51 and is fixedly connected to the fixing plate 51; the two fixing plates 51 and the supporting plate 52 A rotating connecting portion 53 is formed therebetween, and the rotating connecting portion 53 is connected to the corresponding switching mechanism 30 .
  • the structure of the hanging connection bracket 50 is simple, which is convenient for processing and production, and can better fix the transfer mechanism 30 and the surgical robotic arm 20 .
  • the plurality of surgical robotic arms 20 may also be fixed in other ways, so that the multiple surgical robotic arms 20 are arranged in multiple layers.
  • a detachable connection structure may be provided on the transfer mechanism 30, so that a plurality of transfer mechanisms 30 can be plugged and fixed with each other, and can drive the corresponding surgical robotic arms 20 to rotate respectively. Attach the bracket 50.
  • the support plate 52 is arranged in the middle of the two fixed plates 51 , and the support plate 52 evenly divides the two fixed plates 51 into two or three rotating connecting parts 53 , and each rotating connecting part 53 can correspond to A transfer mechanism 30 is connected.
  • the structure of the hanging bracket 50 is simple, and the multiple surgical robotic arms 20 are relatively balanced, which is convenient for use. It can be understood that the setting position of the support plate 52 can be changed according to actual needs, and the number of the rotating connecting parts 53 can also be one, four or more, which is not limited herein.
  • the hanging brackets 50 are configured as multiple layers, each layer is provided with two rotating connecting parts 53, and the rotating connecting parts 53 of the hanging connecting brackets 50 on each layer are arranged in a horizontal direction; or, Three rotating connecting parts 53 are provided on each layer of the hanging brackets 50 , and the rotating connecting parts 53 of each layer of the hanging connecting brackets 50 are arranged annularly in a horizontal direction. This arrangement can meet the needs of different operations, and the force balance of the surgical robot 100 is good.
  • the hanging bracket 50 is configured in two or three layers. This arrangement can greatly improve the flexibility of the surgical robot 100, and the structure will not be too redundant, which affects the surgeon's surgical operation.
  • each layer of hanging brackets 50 may also include two fixing plates 51 and one supporting plate 52 , and each layer of suspension brackets 50 does not share the fixing plate 51 .
  • the multiple layers in the hanging connection bracket 50 can be detachably connected, which is convenient for the doctor to disassemble or install different numbers of surgical robotic arms 20 according to different surgical requirements.
  • the surgical robotic arm 20 located on the lower layer can be rotated and passed through the surgical robotic arm 20 located on the upper layer from the inside. In this way, it can be achieved that two surgical robotic arms 20 with different heights do not interfere and collide when rotating relative to each other, and the rotation range of each surgical robotic arm 20 is relatively large.
  • the surgical robotic arm 20 located on the lower layer it can rotate and pass through the surgical robotic arm 20 located on the upper layer from the inside” means that the inner diameter of the movement relative to the surgical robotic arm 20 located on the upper layer can be larger than the surgical robotic arm 20 located on the upper layer.
  • the movement outer diameter of the lower surgical robotic arm 20 enables the lower surgical robotic arm 20 to complete rotation inside the upper surgical robotic arm 20 without positional interference with the upper surgical robotic arm 20 .
  • the preoperative swing mechanism 21 further includes a transverse arm 24 and a sliding arm 25 .
  • the transverse arm 24 is rotatably installed on the rotating connecting portion 53 through the adapter mechanism 30 , and one end of the sliding arm 25 is connected to the transverse arm 24 , and can slide along the cross arm 24 .
  • the transverse arms 24 of the surgical robotic arms 20 at different levels can be set to different lengths, and the sliding arm 25 does not need to be set at this time;
  • the transverse arm 24 and the sliding arm 25 of each layer are set to the same length and the same configuration to reduce the production cost.
  • only the sliding arm 25 needs to be moved to change the total length of the transverse arm 24 and the sliding arm 25 to achieve different The surgical robotic arms 20 of the layers do not interfere with each other when rotating.
  • the minimum movement inner diameter relative to the surgical robotic arm 20 located on the upper layer is greater than the maximum movement outer diameter relative to the surgical robotic arm 20 located at the lower layer to ensure that no matter how the surgical robotic arm 20 rotates, positional interference will not occur.
  • the side wall of the transition mechanism 30 relatively close to the end of the cross arm 24 is provided with a letting-away groove 241, or, the side wall of the cross-arm 24 relatively close to the transition mechanism 30 is provided with a let-away groove 241 on the side wall Slot 241. In this way, the rotation range of the surgical robotic arm 20 is larger, and collision with the support plate 52 can be avoided.
  • the number of the escape grooves 241 is two, which are located at the two rotation limit positions of the transverse arm 24 and are relatively close to the side of the support plate 52. on the side. It can be understood that, in other embodiments, according to the actual operation needs, only one side of the transverse arm 24 can be provided with the escape groove 241 ; the support plate 52 can also be provided with the escape groove 241 .
  • the rotation range of each layer of surgical robotic arms 20 in the horizontal direction is greater than or equal to 360°. This arrangement makes the movement and use of the surgical robotic arm 20 more flexible, and some surgical areas can overlap, which facilitates the operation of the doctor and reduces the operation time.
  • the present application also provides the second embodiment.
  • the second embodiment is an improved solution based on the first embodiment.
  • the improvement of the second embodiment lies in the arrangement of the surgical robotic arm 20 .
  • the hanging bracket 50 is configured in multiple layers, and each layer is provided with a rotating connecting portion 53 , and each rotating connecting portion 53 can be connected to a corresponding switching mechanism 30 .
  • the rotatable angle of each surgical robotic arm 20 is 360° or more, so as to fulfill the operation requirements of different operations.
  • the support plate 52 may be located in the middle of each rotating connection portion 53 , and the surgical robot arm 20 may be passed through, so as to prevent the support plate 52 from affecting the rotation of the surgical robot arm 20 .
  • the support plate 52 may also be located at the edge of each rotating connection portion 53 to facilitate the installation and removal of the surgical robotic arm 20 .
  • the surgical robotic arm 20 also has a larger rotation range, it is smaller than 360°.
  • the support plates 52 of the suspension brackets 50 on each layer can be staggered, so that the surgical robot arms 20 are located in different orientations.
  • Embodiment 3 is an improvement scheme based on Embodiment 1.
  • the improvement of Embodiment 3 lies in the arrangement of the surgical robotic arm 20 .
  • the hanging bracket 50 is configured in multiple layers, and the number of rotating connecting parts 53 provided on each layer is different, and each rotating connecting part 53 can be connected to a corresponding switching mechanism 30;
  • the number of switching mechanisms 30 on each layer gradually increases, and correspondingly, the number of surgical robotic arms 20 on each layer also gradually increases.
  • the surgical manipulators 20 of different levels can use the vertices of the inline, triangle, quadrangle, and hexagon as multiple points respectively to lay out the position of the rotating connection part 53;
  • the position of the layout rotation connection portion 53 is not limited here.
  • Embodiment 4 is an improved solution based on Embodiment 1.
  • the improvement lies in that the surgical robot 100 of Embodiment 4 further includes a suspension mechanism 60 .
  • FIG. 5 is a schematic structural diagram of the surgical robot 100 in the fourth embodiment of the application;
  • FIG. 6 is a cross-sectional view of the suspension member 63 in the fourth embodiment of the application;
  • FIG. 7 is the fourth embodiment of the application.
  • the suspension mechanism 60 includes at least one suspension arm 61 and at least one group of suspension components.
  • the suspension arm 61 is installed on the preoperative positioning mechanism 21 , and each group of suspension components includes a suspension cable 62 and a suspension component.
  • the hanging piece 63, the diameter of the hanging rope 62 is smaller than the width dimension of the hanging piece 63 in the diameter direction of the hanging rope 62, the upper end of the hanging rope 62 of at least one group of the hanging mechanism 60 is connected with a hanging arm 61, and the hanging The lower end of the cable 62 is directly or indirectly connected to the suspension member 63 . In this way, the structure of the suspension mechanism 60 is simple, which is convenient for installation and suspension operation.
  • the upper end of the suspension cable 62 referred to in this application refers to the end of the suspension cable 62 that is relatively far away from the patient, that is, the end with a higher vertical height; the lower end of the suspension cable 62 refers to the suspension cable 62 The end relatively close to the patient, that is, the end with the lower vertical height.
  • the suspension arm 61 can be detachably installed on the preoperative setting mechanism 21 , or can be non-detachably installed on the preoperative setting mechanism 21 ; the suspension arm 61 can be fixedly connected to the preoperative setting mechanism 21 , it can also slide up and down or left and right along the preoperative positioning mechanism 21 ; the lower end of the suspension cable 62 can be directly connected with the suspension member 63 or indirectly connected by other means such as snap connection.
  • the working steps of the suspension mechanism 60 in the present application are as follows: before the operation, according to the surgical suspension requirements, at least one suspension member with the suspension cable 62 is attached. 63 is put into the patient's body through the umbilical delivery channel, and the suspension members 63 are preferably suspended in pairs. After the suspension members 63 and the suspension cables 62 are put into the body, the suspension members 63 are determined according to the location of the lesion and the needs of the operation. In the suspension position, use the puncture needle to hook out the suspension cable 62 on the suspension member 63 from the abdominal cavity, and fix the upper end of the suspension cable 62 on the suspension arm 61.
  • the upper end of the suspension arm 61 can be fixed in advance in the surgery On the front positioning mechanism 21, the suspension arm 61 can also be connected with the suspension cable 62 and then fixed on the preoperative positioning mechanism 21; the suspension mechanisms 60 at different positions are fixed in sequence, and the preoperative positioning mechanism 21 is adjusted.
  • the abdominal wall is suspended by the suspension mechanism 60 to avoid positional interference between the suspension member 63 and the suspension cable 62 and the surgical instrument 224 .
  • the lower end of the suspension cable 62 When the lower end of the suspension cable 62 is indirectly connected with the suspension member 63, the lower end of the suspension cable 62 is provided with a puncture needle (not shown), and the suspension member 63 is provided with a connection structure, so that the lower end of the suspension cable 62 can pass through
  • the docking of the puncture needle with the connecting structure realizes the indirect connection with the suspension member 63 .
  • the working steps of the suspension mechanism 60 are as follows: before the operation, according to the surgical suspension requirements, a plurality of suspension members 63 are put into the patient's body through the umbilical delivery channel, and the suspension members 63 are preferably suspended in pairs.
  • the suspending position of the suspending member 63 is determined according to the location of the lesion and the surgical requirements, the puncture needle is used to send the suspending cable 62 into the abdominal cavity, and the puncture needle and the suspending member 63 are connected.
  • the structures are butted, so as to realize the connection between the suspension member 63 and the suspension cable 62 .
  • the upper end of the suspension cable 62 is fixed on the suspension arm 61.
  • the upper end of the suspension arm 61 can be fixed on the preoperative positioning mechanism 21 in advance, or the suspension member 63 can be connected with the suspension cable 62 and then fixed on the preoperative pendulum.
  • the suspension mechanism 60 at different positions is fixed in turn, the position of the preoperative positioning mechanism 21 is adjusted, and the abdominal wall is suspended by the suspension mechanism 60 to avoid the suspension member 63 and the suspension cable 62 and the surgical instruments. 224 Position interference occurs.
  • One of the methods for fixing the suspension cable 62 to the abdominal wall is as follows: the suspension cable 62 is inserted into the abdominal cavity from one side of the abdominal wall, and passed through the abdominal cavity from the other side of the abdominal wall. Compared with this method, in the present application, the suspension member 63 is used to suspend the abdominal wall, which can greatly reduce the suspension wound of the patient and accelerate the wound healing speed.
  • the suspension arm 61 is installed on the first sleeve 211 of the preoperative swing mechanism 21 .
  • the first sleeve 211 is sleeved with the second sleeve 212 , and the installation of the suspension arm 61 on the first sleeve 211 can ensure the reliability of the installation of the suspension arm 61 , and avoid the problems caused by the first sleeve 211 and the second sleeve 212 .
  • the telescopic movement between them affects the installation of the suspension arm 61; in addition, since the third sleeve 213 is closer to the lesion than the first sleeve 211, the suspension arm 61 is installed on the first sleeve 211 instead of the third sleeve
  • the barrel 213 can ensure that the surgeon's surgical field of view is not affected. It can be understood that the suspension arm 61 can also be installed on the third sleeve 213 if the influence on the doctor's surgical field of view is not considered; on the fourth sleeve 214; or the suspension arm 61 can also be installed on other telescopic arms, which will not be repeated here.
  • the suspension member 63 is in the shape of a bowl, a cherry, an ellipsoid or a spherical shape.
  • the suspension member 63 is set in a bowl shape, cherry shape, ellipsoid or spherical shape, the outer wall of the suspension member 63 is smooth, does not cause secondary injury to the patient, and can better support the patient's abdominal cavity. It can be understood that the suspension member 63 can also be other shapes with smooth outer walls.
  • the suspension member 63 is made of elastic material, and the elastic suspension member 63 can further prevent secondary injury to the patient, so as to achieve the treatment purpose of minimally invasive surgery.
  • the upper end of the suspending member 63 is recessed inward to form a groove 634.
  • the groove wall of the groove 634 is provided with an accommodating channel 632 for the suspending cable 62 to pass through.
  • the groove 634 is inserted into the accommodating channel 632 .
  • a groove 634 is provided on the suspension member 63, and the groove 634 can accommodate more abdominal wall tissue.
  • the suspension member 63 includes an annular abutting surface 636 , and the annular abutting surface 636 surrounds the peripheral side of the groove 634 .
  • the suspension member 63 contacts the abdominal wall of the human body through the annular abutting surface 636 to prevent the suspension member 63 from scratching the abdominal wall tissue, and has a larger contact area with the abdominal wall tissue, which can better support the abdominal wall tissue.
  • the width of the upper end of the suspension member 63 is greater than the width of the lower end of the suspension member 63 .
  • the size of the upper end of the suspension member 63 is larger, which can increase the contact area with abdominal wall tissue; the size of the lower end is smaller, which is convenient for the suspension member 63 to pass through the delivery channel, so that the suspension member 63 develops in the direction of miniaturization.
  • the suspension member 63 is also provided with an accommodating groove 631, the accommodating groove 631 is communicated with the accommodating channel 632, and the accommodating groove 631 is located on the side of the accommodating channel 632 that is relatively far away from the groove 634;
  • the inner diameter of the groove 631 is larger than the inner diameter of the accommodating channel 632 , and the accommodating groove 631 forms an abutting portion 633 relatively close to the peripheral wall of the accommodating channel 632 .
  • the accommodating groove 631 and the accommodating channel 632 are arranged in the suspension member 63 , which can better fix the suspension cable 62 and prevent the suspension cable 62 from being exposed and scratching human internal organs; the abutting portion 633 can stop the suspension cable 62 and the accommodating slot 631 can accommodate the knotted portion of the suspension cable 62, so as to avoid damage to human internal organs caused by the exposed knotted portion.
  • the lower end of the suspension member 63 is provided with a clamping portion 635 , and the clamping portion 635 includes two inwardly recessed clamping surfaces.
  • a clamping portion 635 is provided on the suspension member 63, so that the doctor can use a tool to clamp the suspension member 63 and send it into the umbilical delivery channel with a predetermined attitude, which is more stable when clamping the suspension member 63, saves the operation time, and reduces the operation time. Risk of minor surgery.
  • the clamping portion 635 is located on the side relatively away from the groove 634 , which can prevent the concavity and convexity of the clamping portion 635 from causing damage to the human epidermis during suspension.
  • the suspension member 63 is recessed inward on both sides of the accommodating groove 631 to form two mutually parallel clamping surfaces, and the two mutually parallel clamping surfaces form a clamping portion 635 .
  • the clamping portion 635 formed by the two mutually parallel clamping surfaces is easy to process, has high stability when clamping the suspension member 63, and is convenient for doctors to operate.
  • the suspension arm 61 is detachably mounted on the first sleeve 211 .
  • Setting the cantilever arm 61 to be detachably installed can improve the flexibility of use of the surgical robotic arm 20, and the cantilever arm 61 can be installed or disassembled according to actual surgical needs.
  • the suspension mechanism 60 can be directly and detachably installed on the first sleeve 211 through the suspension arm 61 , and can also be detachably installed on the first sleeve 211 indirectly through other parts.
  • the suspension arm 61 is in the shape of a long rod.
  • the suspension arm 61 is arranged in the shape of a long rod, which facilitates the processing and shaping of the suspension arm 61, and the production cost is low.
  • each surgical robotic arm 20 there are multiple surgical robotic arms 20, and two suspension mechanisms 60 are provided on the preoperative positioning mechanism 21 of each surgical robotic arm 20, and the two suspension mechanisms 60 are respectively located in the preoperative positioning mechanism 21 opposite sides away from each other.
  • a plurality of robotic arms can cooperate with each other to complete the surgical operation, and two suspension mechanisms 60 are arranged on each surgical robotic arm 20, which can not only increase the number of suspension parts 63, improve the stability of abdominal wall suspension, but also
  • the forces on both sides of the surgical robotic arm 20 can be balanced, and problems such as shortening the service life of the surgical robotic arm 20 caused by long-term unbalanced forces can be avoided.
  • each surgical robotic arm 20 may also be provided with only one suspension mechanism 60 ; each surgical robotic arm 20 may also be provided with only one suspension mechanism 60 . More than two suspending mechanisms 60 are provided on it to adapt to more complicated surgical scenarios.
  • the suspension mechanism 60 further includes a lighting member (not shown), and the lighting member is arranged on the suspension member 63 .
  • the lighting member and the suspending member 63 are arranged at one end of the suspending cable 62 that is relatively far away from the suspending arm 61 .
  • the illuminating element is arranged on the suspension mechanism 60, which can increase the brightness of the surgical field and facilitate the doctor to perform a more precise surgical operation.
  • cold light source lamps are used as lighting elements. It can be understood that, in other embodiments, other common medical lighting components may also be selected for the lighting components, which will not be described in detail here.
  • the suspension mechanism 60 further includes a camera (not shown), and the camera is arranged on the suspension member 63 .
  • the camera member and the suspension member 63 are arranged at one end of the suspension cable 62 that is relatively far away from the suspension arm 61 .
  • a camera is provided on the suspension mechanism 60, which can present a scene of a lesion in the patient's abdominal cavity, which is convenient for a doctor to perform a more precise surgical operation.
  • a wireless camera is used for the camera. It can be understood that in other embodiments, other common imaging elements may also be selected for the lighting element, which will not be described in detail here.
  • the movement of the surgical instrument 224 does not depend on the preoperative positioning mechanism 21 , and the surgical operation can be completed only by relying on the actuator 22 . If the position of the suspension mechanism 60 does not need to be adjusted, the position of the preoperative setting mechanism 21 is fixed during the operation.
  • a puncture needle with a diameter of 2 mm to 3 mm is used to hook the sling 62 out of the abdominal cavity. This arrangement can not only hook out the suspending cable 62 more conveniently and accurately, but also avoid the patient's wound being too large and affecting the patient's recovery.
  • the present application also provides the fifth embodiment.
  • the fifth embodiment is an improvement scheme based on the fourth embodiment.
  • the improvement of the fifth embodiment lies in the suspension member 63.
  • the suspension member 63 is provided with at least two There are accommodating grooves 631 , each accommodating groove 631 is communicated with the accommodating channel 632 , and each accommodating groove 631 is located at one end of the accommodating channel 632 away from the groove 634 .
  • Two accommodating channels 632 are provided in the suspension member 63 , so that the suspension cables 62 pass through one accommodating channel 632 and pass out from the other accommodating channels 632 , which not only increases the stability of the suspension cables 62 and reliability, the posture of the suspension member 63 in the human body can also be adjusted by adjusting the penetrating suspension cable 62 and the penetrating suspension cable 62 .
  • the two accommodating channels 632 are communicated on one side relatively close to the groove 634 , so that the doctor can pre-thread the suspending cable 62 into the suspending member 63 . It can be understood that, in other embodiments, the two accommodating passages 632 may also be disconnected, as long as the suspension cable 62 can be fixed.
  • FIG. 10 is a perspective view of a part of the surgical robot 100 in the sixth embodiment of the present application
  • FIG. 11 is a bottom view of FIG. 10
  • FIG. 12 is a schematic cross-sectional view of the section A-A in FIG. 11 .
  • the improvement of Example 6 is the suspension mechanism 60 .
  • the suspension mechanism 60 preferably includes a driver (not numbered), that is, the suspension mechanism 60 includes a driver, at least one suspension arm 61 and at least one set of suspension components (not numbered).
  • the suspension arm 61 is provided at The external support structure, each group of suspension components includes a suspension cable 62 and a suspension piece 63, the diameter of the suspension cable 62 is smaller than the width dimension of the suspension piece 63 in the diameter direction of the suspension cable 62, and the lower end of the suspension cable 62 is the same as the
  • the suspension member 63 is directly or indirectly connected, the upper end of the suspension cable 62 of at least one group of suspension assemblies is connected to a suspension arm 61, the suspension arm 61 is connected to the driver, and the driver drives the suspension assembly to approach or away from the suspension arm 61 through the suspension arm 61.
  • the suspension arm 61 can move relative to the preoperative positioning mechanism 21 and drive the suspension cable 62 to adjust the position, which is convenient for the doctor to adjust the height position and the angle orientation of the suspension piece 63 during the operation, so that the doctor can perform more flexibly and conveniently. surgical operation.
  • the position of the suspension arm 61 can be adjusted quickly and sensitively, and the suspension arm 61 has high flexibility.
  • the suspension arm 61 is disposed on the outer wall of the preoperative setting mechanism 21 , and can expand and contract relative to the radial direction of the preoperative setting mechanism 21 . It should be noted that the extension and retraction of the suspension arm 61 along the radial direction of the preoperative setting mechanism 21 means that the suspension arm 61 can change the length of the suspension arm 61 protruding from the outer peripheral wall of the preoperative setting mechanism 21 .
  • the suspension arm 61 includes a driving rod 611 and a connecting rod 612. At least one set of suspension components is disposed outside the connecting rod 612. The inner side of the connecting rod 612 is rotatably connected to the driving rod 611, and the driving rod 611 is rotatably connected to the driver. It can be understood that, in other embodiments, the suspension arm 61 may also include a link 612 , and at least one set of suspension components and the driver are connected through the link 612 . The extension and retraction of the suspension arm 61 is realized by the rod, which occupies a small volume, has high flexibility, is easy to install, and has a low production cost.
  • the outer side of the connecting rod 612 refers to the side of the connecting rod 612 that is relatively close to the external support structure
  • the inner side of the connecting rod 612 refers to the side of the connecting rod 612 that is relatively far from the external support structure.
  • the driver includes a motor 64 and a turntable 65 , the motor 64 is rotatably connected to the turntable 65 , and the suspension arm 61 is rotatably connected to the turntable 65 .
  • the turntable 65 is driven by the motor 64 to generate a certain deflection angle, so that the suspension arm 61 can be extended and retracted relative to the external support structure.
  • the driver may also include an air cylinder (not shown) or an oil cylinder (not shown), and one of the air cylinder and the oil cylinder is fixedly connected to the suspension arm 61, and the suspension arm 61 passes through the air cylinder or
  • the cylinders are telescopic relative to the external support structure.
  • the suspension arm 61 in the suspension mechanism 60 of the present invention has good integration and small overall size, which avoids the position conflict of the surgical robotic arm 20 installed with the suspension arm 61 during the operation, and can further expand the number of doctors surgical field of view.
  • the suspension mechanism 60 further includes an outer sleeve 66, which is installed on the outer peripheral wall of the preoperative positioning mechanism 21, the outer sleeve 66 is hollow, and the outer sleeve 66 is sleeved with a suspension Boom 61. Setting the outer sleeve 66 outside the suspension arm 61 can protect the driving rod 611 and the connecting rod 612, prolong the service life of the suspension arm 61, and facilitate the installation of the suspension mechanism 60.
  • the suspension mechanism 60 is detachably installed on the preoperative positioning mechanism 21 through the outer sleeve 66 .
  • the guide member 67 is fixed on the inner wall of the outer sleeve 66 , and the telescopic portion passes through the guide member 67 and can expand and contract along the guide member 67 .
  • the guide member 67 is provided between the outer sleeve 66 and the telescopic part, which can not only ensure the smoothness and smoothness of the connecting rod 612 during the axial movement, but also prevent the connecting rod 612 from vibrating during the axial movement and causing wounds to the abdominal wall. Inflicts secondary cut damage.
  • the end of the outer sleeve 66 is also provided with a stopper 661 for protecting the guide 67 in the outer sleeve 66 .
  • a stopper 661 for protecting the guide 67 in the outer sleeve 66 .
  • there are two guide members 67 the two guide members 67 are arranged side by side, and the guide members 67 are linear bearings. It can be understood that in other embodiments, the number of guide members 67 may also be one or more, and other structures such as slide rails, sliders, etc. may also be selected for the guide members 67, as long as the guiding effect can be achieved.
  • the surgical manipulator 20 of the surgical robot 100 is arranged in layers through the transfer mechanism 30 with different height positions. There will be no interference and collision between the surgical robotic arms 20, which improves the multi-arm cooperation ability of the surgical robotic arms 20 at different levels in any plane of space, reduces the space volume required by the surgical robot 100, and satisfies the needs of diverse needs. Surgery requirements, and the overall force balance is good.
  • a first feature "on” or “under” a second feature may be in direct contact with the first feature and the second feature, or the first feature and the second feature through an intermediate indirect contact with the media.
  • first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • a first feature “below”, “below” and “below” a second feature may mean that the first feature is directly or obliquely below the second feature, or simply means that the first feature is level below the second feature.
  • references to the terms “one embodiment,” “some embodiments,” “example,” “specific example,” or “some examples”, etc. means specific features described in connection with the embodiment or example. , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
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  • General Health & Medical Sciences (AREA)
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  • Manipulator (AREA)

Abstract

Robot chirurgical (100), comprenant un cadre de machine (10), au moins deux mécanismes d'adaptation (30), et au moins deux manipulateurs chirurgicaux (20). Au moins un des manipulateurs chirurgicaux (20) est disposé sur le cadre de machine (10) par l'intermédiaire d'un mécanisme d'adaptation (30), le mécanisme d'adaptation (30) entraîne le manipulateur chirurgical (20) relié à ce dernier pour tourner de manière circonférentielle par rapport au cadre de machine (10), et deux mécanismes d'adaptation (30) adjacents sont empilés sur le cadre de machine (10), permettant ainsi aux manipulateurs chirurgicaux (20) sur les différents mécanismes d'adaptation (30) d'être disposés à différentes positions en hauteur du cadre de machine (10). Les manipulateurs chirurgicaux (20) du robot chirurgical (100), grâce aux mécanismes d'adaptation (30) dont les différentes positions de hauteur sont disposées à des niveaux différents, par rapport à des manipulateurs classiques disposés dans un même plan, utilisent une conception d'agencement à niveaux multiples en termes d'espace, et empêchent l'apparition d'interférence et de collision entre les deux manipulateurs chirurgicaux (20), ce qui permet d'augmenter la capacité des manipulateurs chirurgicaux (20) de différents niveaux pour une collaboration multimanipulateur dans n'importe quel plan spatial, réduisant le volume spatial requis par le robot chirurgical (100), satisfaisant des exigences chirurgicales diversifiées, et fournissant un excellent équilibre de force globale.
PCT/CN2020/130806 2020-11-23 2020-11-23 Robot chirurgical WO2022104771A1 (fr)

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CN201267533Y (zh) * 2008-09-17 2009-07-08 姚延丽 一种移动式麻醉用立体操作台装置
CN102176867A (zh) * 2008-10-13 2011-09-07 韩商未来股份有限公司 手术从动机器人
CN104334110A (zh) * 2012-06-01 2015-02-04 直观外科手术操作公司 使用零空间回避操纵器臂与患者碰撞
CN104586507A (zh) * 2005-01-24 2015-05-06 直观外科手术操作公司 机器人手术的模块化机械手支架
CN106037937A (zh) * 2016-07-08 2016-10-26 天津大学 具有自适应能力的手术机器人操作臂
CN106236267A (zh) * 2016-08-18 2016-12-21 山东大学齐鲁医院 一种辅助微创外科手术机器人机械臂布置结构
CN106456263A (zh) * 2014-03-17 2017-02-22 直观外科手术操作公司 用于远程手术工作台配准的方法和设备
CN210228310U (zh) * 2019-04-30 2020-04-03 深圳市阿瑟医疗机器人有限公司 一种腹腔镜手术机器人

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6246200B1 (en) * 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
CN104586507A (zh) * 2005-01-24 2015-05-06 直观外科手术操作公司 机器人手术的模块化机械手支架
CN201072116Y (zh) * 2007-01-12 2008-06-11 重庆邦桥科技有限公司 Led手术无影灯
CN201267533Y (zh) * 2008-09-17 2009-07-08 姚延丽 一种移动式麻醉用立体操作台装置
CN102176867A (zh) * 2008-10-13 2011-09-07 韩商未来股份有限公司 手术从动机器人
CN104334110A (zh) * 2012-06-01 2015-02-04 直观外科手术操作公司 使用零空间回避操纵器臂与患者碰撞
CN106456263A (zh) * 2014-03-17 2017-02-22 直观外科手术操作公司 用于远程手术工作台配准的方法和设备
CN106037937A (zh) * 2016-07-08 2016-10-26 天津大学 具有自适应能力的手术机器人操作臂
CN106236267A (zh) * 2016-08-18 2016-12-21 山东大学齐鲁医院 一种辅助微创外科手术机器人机械臂布置结构
CN210228310U (zh) * 2019-04-30 2020-04-03 深圳市阿瑟医疗机器人有限公司 一种腹腔镜手术机器人

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