WO2023226174A1 - 一种手术机器人装置及其操作方法 - Google Patents

一种手术机器人装置及其操作方法 Download PDF

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Publication number
WO2023226174A1
WO2023226174A1 PCT/CN2022/105332 CN2022105332W WO2023226174A1 WO 2023226174 A1 WO2023226174 A1 WO 2023226174A1 CN 2022105332 W CN2022105332 W CN 2022105332W WO 2023226174 A1 WO2023226174 A1 WO 2023226174A1
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WO
WIPO (PCT)
Prior art keywords
surgical robot
robot device
wheel
driving
clamping
Prior art date
Application number
PCT/CN2022/105332
Other languages
English (en)
French (fr)
Inventor
麦格兰·德怀特·艾伦
曹云飞
辛安麟簇
Original Assignee
深圳市通甪吉祥科技有限合伙企业(有限合伙)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from US17/825,630 external-priority patent/US20230380914A1/en
Application filed by 深圳市通甪吉祥科技有限合伙企业(有限合伙) filed Critical 深圳市通甪吉祥科技有限合伙企业(有限合伙)
Publication of WO2023226174A1 publication Critical patent/WO2023226174A1/zh

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/40—Apparatus fixed or close to patients specially adapted for providing an aseptic surgical environment

Definitions

  • the present invention relates to a medical surgical robot device, and in particular to a surgical robot device used clinically to operate intracavity medical instruments such as catheters and guide wires, and an operating method thereof.
  • non-sterile parts are usually expensive mechanical drive gears or motors, etc., they cannot be re-sterilized and must be discarded after a single use. Even if it is possible to re-sterilize things like mechanical drive gears or motors, it is often too expensive.
  • the present invention provides a surgical robot device, which includes a delivery module that can move toward or away from a subject.
  • the delivery module includes a driving component and an operating component.
  • the operating component and the driving component are respectively located on isolated sterile sides and On the non-sterile side, the operating component moves and/or rotates under the non-contact air-to-air control of the driving component, allowing the operating component to deliver intracavity medical instruments into or out of the patient's body. Withdraw.
  • the driving component controls the movement and/or rotation of the operating component through magnetic driving.
  • the driving component controls the movement and/or rotation of the operating component through electromagnetic induction driving.
  • the driving component controls the movement and/or rotation of the operating component through electric field coupling driving.
  • the driving component controls the movement and/or rotation of the operating component through a DC resonance driving method.
  • the driving assembly includes at least one magnetic driving wheel
  • the operating assembly includes at least one magnetic induction wheel corresponding to the magnetic driving wheel
  • the magnetic driving wheel controls the rotation of the magnetic induction wheel in a non-contact manner.
  • the operating assembly includes a permanent magnetic rotating wheel and a permanent magnetic clamping wheel
  • the driving assembly includes a permanent magnetic driving wheel and a first electromagnet
  • the first electromagnet controls the permanent magnet in a non-contact manner.
  • the clamping wheel is fixed, and the permanent magnet driving wheel controls the rotation of the permanent magnet rotating wheel in a non-contact manner.
  • the surgical robot device further includes a collet disposed between the permanent magnetic rotating wheel and the permanent magnetic clamping wheel.
  • the collet is used to insert intracavity medical instruments.
  • the relative movement with the permanent magnetic clamping wheel keeps the collet in a closed state to clamp the medical instruments in the cavity or the collet in an open state to release the medical instruments in the cavity.
  • the collet includes a sleeve and a sleeve coaxially positioned inside the sleeve.
  • the sleeve is provided with an internal thread at one end and a clamping mouth at the other opposite end.
  • the sleeve is provided with There are external threads matching the internal threads and elastic tweezers corresponding to the clamping mouth.
  • the sleeve shaft rotates toward the other end of the sleeve and enters the sleeve, and the tweezers are pushed into the clamping mouth, allowing the The forceps elastically shrink to hold the medical instrument in the cavity, or the sleeve is rotated axially away from the other end of the sleeve to withdraw the sleeve, and the forceps are pulled out of the clamping mouth, allowing the The forceps resume expansion and loosen the medical device in the cavity.
  • the sleeve protrudes from one of the permanent magnetic clamping wheel and the permanent magnetic rotating wheel
  • the sleeve shaft protrudes from the other of the permanent magnetic clamping wheel and the permanent magnetic rotating wheel.
  • the forceps include several clips.
  • the operating assembly includes a permanent magnetic rotating wheel, a permanent magnetic clamping wheel and a collet.
  • the permanent magnetic clamping wheel is stationary and the permanent magnetic rotating wheel rotates relative to the permanent magnetic clamping wheel,
  • the collet is placed in a closed state and an open state respectively to clamp or release the medical device in the cavity.
  • the permanent magnetic rotating wheel and the permanent magnetic clamping wheel rotate synchronously to drive the medical instrument in the cavity.
  • the surgical robot device further includes a track, and the driving component controls the movement of the operating component in a non-contact manner when moving along the track.
  • the driving component and the operating component are respectively provided with magnetic elements that attract and position each other.
  • the driving assembly when the collet is in a closed state to clamp the medical instrument in the cavity and the permanent magnetic clamping wheel is released, the driving assembly is allowed to move along the track, and the magnetic element of the driving assembly attracts The magnetic elements of the operating assembly cause the operating assembly to move synchronously, so that the delivery module delivers the intracavity medical instrument to the patient along the track or withdraws the intracavity medical instrument away from the patient.
  • the operating assembly further includes two cylindrical bearings respectively protruding from the permanent magnetic rotating wheel and the permanent magnetic clamping wheel.
  • the two cylindrical bearings are respectively supported on two bearing seats, and the collet is supported on the said On the other bearing seat between the two bearing seats.
  • the driving component is placed in the base housing located on the non-sterile side
  • the operating component is placed in the operating component housing located on the sterile side.
  • the operating component housing can be linearly moved and can be easily and detachably installed on the on the base shell.
  • the sterile side and the non-sterile side are separated by a sterile barrier, and the base shell is located below the sterile barrier.
  • the operating assembly includes a permanent magnetic rotating wheel and a permanent magnetic clamping wheel
  • the driving assembly includes a first permanent magnetic driving wheel and a second permanent magnetic driving wheel, the first permanent magnetic driving wheel and the second permanent magnetic driving wheel.
  • the magnetic driving wheel controls the rotation of the permanent magnetic clamping wheel and the permanent magnetic rotating wheel in a non-contact manner.
  • the surgical robot device further includes a clamping module, the clamping module includes a support located on the sterile side for supporting the medical instrument in the cavity.
  • the surgical robot device further includes a clamping module
  • the clamping module further includes a clamp located on the sterile side and a controller located on the non-sterile side, and the controller controls the clamp in a non-contact manner. Clamp or release intraluminal medical devices.
  • the clamping module is fixed between the delivery module and the patient.
  • the operating component clamps and controls the intracavitary medical device to be delivered into the patient. into the body of the surgeon or withdrawn from the body of the subject.
  • the clamping module is fixed between the delivery module and the patient.
  • the clamping module clamps the intracavitary medical instrument
  • the operating component releases the intracavitary medical instrument and moves it towards the patient. The person moves or moves away from the subject.
  • the controller controls the clamping or releasing of the clamp through magnetic control.
  • the controller is a second electromagnet.
  • the clamp includes a cylinder, a chuck slidably installed in the cylinder, and a magnet fixed to the chuck, and a second electromagnet is used to non-contactly attract or release the magnet in the air, allowing the The chuck slides in the cylinder to approach and clamp the medical device in the cavity or to move away from the medical device in the cavity to release the medical device in the cavity.
  • the delivery module is located between the clamping module and the subject, and the clamping module and the delivery module together carry the intracavity medical device into the subject's body or withdraw it from the subject's body for a certain distance.
  • the clamping module and the delivery module together again deliver the intracavity medical device into the patient's body or withdraw it from the patient's body.
  • the surgical robot device further includes a clamping module located between the delivery module and the patient.
  • the clamping module includes two friction rollers that relatively clamp the medical instruments in the cavity.
  • the intracavity medical device is controlled to be delivered into the patient's body or withdrawn from the patient's body, and the intracavity medical device moves relative to the two friction rollers.
  • the surgical robot device further includes at least two position sensors for sensing that the delivery module reaches the distal extreme position or the proximal extreme position.
  • the surgical robot device provided by the present invention not only realizes non-contact transmission through air isolation control, but also places the driving assembly on the non-sterile side, thereby achieving sterile isolation and reusability.
  • the present invention also provides an operating method for a surgical robot device.
  • the surgical robot device includes a delivery module.
  • the delivery module includes a driving component and an operating component.
  • the operating method includes:
  • the drive assembly is located on the non-sterile side isolated from the sterile side.
  • the operating component is moved and/or rotated under the non-contact air-to-air control of the driving component, so that the operating component carries the intracavity medical instrument and delivers it into the patient's body or withdraws it from the patient's body.
  • the driving component controls the movement and/or rotation of the operating component through magnetic driving.
  • the driving component controls the movement and/or rotation of the operating component through electromagnetic induction driving.
  • the driving component controls the movement and/or rotation of the operating component through electric field coupling driving.
  • the driving component controls the movement and/or rotation of the operating component through a DC resonance driving method.
  • the driving assembly includes at least one magnetic driving wheel
  • the operating assembly includes at least one magnetic induction wheel corresponding to the magnetic driving wheel
  • the magnetic driving wheel controls the magnetic induction wheel in a non-contact manner.
  • the surgical robot device further includes a track, and the driving component controls the movement of the operating component in a non-contact manner when moving along the track.
  • the driving component and the operating component are respectively provided with magnetic elements that attract and position each other.
  • the surgical robot device further includes a clamping module, the clamping module includes a clamp located on the sterile side and a controller located on the non-sterile side, and the clamp is controlled by the controller in a non-contact manner. And clamp or release intracavity medical devices.
  • the clamping module is positioned between the delivery module and the subject and is fixed, so that when the clamping module holds the medical instrument in the cavity and the operating component releases the medical instrument in the cavity, the The delivery module moves toward the subject or away from the subject.
  • the operating method of the surgical robot device provided by the present invention realizes "non-contact air-to-air control/transmission", avoids the intrusion or leakage of body fluids or dirt during direct or indirect contact with the transmission, and prevents the contamination of the driving components. Maximum sterile isolation protection was implemented.
  • Figure 1 is a schematic diagram of a surgical robot device (not shown) of the present invention, which is used to operate intracavity medical instruments in a patient's body.
  • Figure 2 is a perspective view of the left side of Figure 1 with the housing installed.
  • Figure 3 is a perspective view of the right side of Figure 1 with the housing installed.
  • FIG. 4 is a cross-sectional view along A-A in FIG. 2 .
  • Figure 5 is a front view of Figure 1 with the housing installed.
  • FIG. 6 is a top view of the operating assembly in FIG. 5 .
  • Figure 6a is a cross-sectional view along B-B in Figure 6, in which the collet is in an open state.
  • Figure 6b is a cross-sectional view along B-B in Figure 6, in which the collet is in a closed state.
  • Figure 7 is another schematic view of the operating assembly in Figure 1, illustrating the operation of the collet from opening to closing.
  • Figure 8 is another schematic view of the operating assembly in Figure 1, illustrating the rotation operation of the collet on it.
  • FIG. 9 is a top view of the clamping module in FIG. 5 .
  • Figure 9a is a cross-sectional view along C-C in Figure 9, in which the clamping module is in an open state.
  • Figure 9b is a cross-sectional view along C-C in Figure 9, in which the clamping module is in a closed state.
  • FIG. 10 is another schematic view of FIG. 4 , in which an intraluminal medical device is loaded and held by the operating assembly and delivered into the patient's body.
  • Fig. 11 is another schematic view of Fig. 4, in which the intracavitary medical instrument is loaded and is held by the operating component and withdrawn from the patient's body.
  • Figure 12 is yet another schematic diagram of Figure 4, in which the delivery module is in an initial position triggering the sensor.
  • Figure 13 is yet another schematic diagram of Figure 4, in which the delivery module is in the end position of the trigger sensor.
  • Fig. 14 is a three-dimensional assembled view of the three surgical robot devices of the present invention in Fig. 5.
  • 15a and 15b are schematic diagrams of the working process of the two delivery modules of the surgical robot device of the present invention.
  • Figure 16 is another schematic diagram of the working process of the two delivery modules of the surgical robot device of the present invention.
  • Figure 17 is a schematic diagram of yet another working process of the two delivery modules of the surgical robot device of the present invention.
  • Figure 18 is another schematic diagram of the surgical robot device (the outer casing is not shown) of the present invention.
  • proximal end refers to the end close to the operator.
  • distal end refers to the end far away from the operator.
  • installation should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection.
  • it can also be an electrical connection or a magnetic connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be an internal connection between two components.
  • the surgical robotic device of the present invention may be used to deliver or withdraw, for example, intraluminal medical instruments.
  • lumen includes lumens such as natural lumens, panvascular lumens, and organ lumens.
  • endoluminal medical device can refer to any shape or type of catheter, guide wire, guide catheter, angioplasty catheter, or endoscope, various endoscopes, tube scopes, etc., including those suitable for vascular intervention, Any catheter or guidewire consumable devices for electrophysiology, structural heart disease and other surgeries. Therefore, the surgical robotic device of the present invention may also be referred to as a "catheter robot.” It should be understood that the scope and spirit of the invention are not limited to these examples of the invention.
  • the operator usually stands on the left side (not shown) of the patient in Figure 1 instead of the surgical robot device 100 of the present invention to operate the intracavitary medical instrument 32 to deliver into or withdraw from the patient's body. out.
  • Delivery of the intraluminal medical device 32 mainly involves two forces: one is a force that rigidly pushes or pulls the flexibly bendable intraluminal medical device 32 in the axial direction, and the other is a force that rigidly rotates the intraluminal medical device 32 while pushing. Torque. This requires the operator's two hands to coordinate with each other to deliver the intraluminal medical device 32 into or withdraw from the patient's body.
  • the operator is standing with his back to FIG. 1 during delivery of the intraluminal medical instrument 32 , and the operator's right hand is released but supporting the intraluminal medical instrument 32 .
  • the operator uses his left hand (sometimes both hands) to push, pull or twist the rigid but flexible intraluminal medical device 32.
  • the left hand gradually approaches the right hand.
  • the surgeon holds the intracavitary medical device 32 with his right hand without moving, and at the same time releases his left hand and moves further down to the left side. , in preparation for pushing and/or rotating the next section of the intraluminal medical device 32 into the subject.
  • This mutual coordination of movements between the left hand and the right hand is also applicable to the surgical process of withdrawing the intracavity medical instrument 32 from the patient's body. That is, while the left hand is pulling or twisting, the right hand releases the intracavity medical instrument 32 .
  • the left hand wants to move from one section of the intracavitary medical device 32 to another, the right hand should hold the intracavitary medical device 32 stationary while the left hand moves to another section, so that the intracavitary medical device 32 such as the catheter can continue to be withdrawn.
  • Figure 1 is a schematic diagram of a surgical robot device (not shown) of the present invention, which is used to operate intracavity medical instruments in a patient's body.
  • a surgical robot device (not shown) of the present invention, which is used to operate intracavity medical instruments in a patient's body.
  • some components are omitted from the figures and are not shown, but they are still important.
  • This includes the rightmost subject in Figure 1 and the sterile barrier surrounding the entire drive assembly 16 (shown only as short line 26 in the figure).
  • Sterile barrier 26 is disposable.
  • the surgical robot device 100 of the present invention includes a delivery module 10 and a clamping module 12 .
  • the delivery module 10 can move linearly on the track 18b toward or away from the subject, who, although not shown, is generally located farther to the right in the figure.
  • Delivery module 10 includes a drive assembly 16 and an operating assembly 14 .
  • the drive assembly 16 may include one or two drives, each drive controlled by an operator (not shown), preferably by remote control.
  • the operating assembly 14 operates the intraluminal medical device 32 to be delivered into or withdrawn from the patient's body, that is, by applying linear force and/or along the intraluminal medical device 32. Or it can be achieved by applying torque on the intracavity medical device 32 to rotate it around its axis.
  • the clamping module 12 is fixed linearly between the subject and the delivery module 10 .
  • the clamping module 12 is stationary relative to the subject and the track 18b.
  • the clamping module 12 is used to clamp or release the intraluminal medical device 32 passing therethrough.
  • the clamping module 12 includes a clamp and a controller. Clamps are used to hold or release intracavity medical devices that pass through the clamp.
  • the controller is used to non-contactly control the fixture to clamp or release the medical device in the cavity.
  • the controller is the second electromagnet 50
  • the clamp is a magnetic clamp controlled by the second electromagnet 50 in a non-contact manner.
  • the clamping module 12 can support the intraluminal medical instrument 32 on the delivery path of the intraluminal medical instrument 32 to prevent it from twisting.
  • clamping module 12 includes a support for supporting intraluminal medical instrument 32 .
  • Figure 2 is a left side perspective view of the surgical robotic device of the present invention with the housing installed.
  • Figure 3 is a right side perspective view of the surgical robotic device of the present invention with the housing installed.
  • Figure 4 is an A-A cross-sectional view of the surgical robot device of the present invention.
  • Figure 5 is a front view of the surgical robot device of the present invention with the housing installed.
  • a sterile barrier 26 that separates the sterile side from the non-sterile side surrounds the drive assembly 16 and the second electromagnet 50 in a sterile concealment or barrier. This is to prevent anything from crossing over from the non-sterile side to the sterile side as shown in Figure 1. Furthermore, body fluids or contaminants from the operating assembly 14 or the chuck 70 on the sterile side are prevented from entering the non-sterile side. It can be seen that the driving assembly 16 and the second electromagnet 50 are on the non-sterile side, and the operating assembly 14 and the chuck 70 are on the sterile side for operating the intracavitary medical instrument 32 that contacts the patient or subject.
  • the operating assembly housing 15 and the clamp housing 58 have been pre-sterilized and kept sterile when entering the clinical operation.
  • the base housing 66 is on the non-sterile side and below the sterile barrier 26 .
  • the operating component housing 15 can be linearly moved and can be easily and detachably installed on the base housing 66 , and the clamp housing 58 is fixedly installed on the base housing 66 .
  • the operating component housing 15 and the base housing 66 can be installed together linearly movably through a matching mechanism such as a dovetail groove and a slider.
  • the operating assembly 14 and the drive assembly 16 are connected together through a connection structure such as a magnetic element, Let the operating component 14 move synchronously with the driving component 16 .
  • the disposable sterile barrier 26 needs to be replaced for each patient or subject.
  • the operating assembly 14 is placed in the operating assembly housing 15. It is best to provide a support member 38 on the top of the operating assembly housing 15.
  • Drive assembly 16 is housed within base housing 66 .
  • the track 18b is provided in the base shell 66, and is supported and fixed by the rear track stand 18a and the front track stand 18c provided in the base shell 66, so that the platform 20 carrying the driving assembly 16 can be positioned between the rear track stand 18a and the front track stand 18c.
  • the rail bases 18c move linearly between each other.
  • One or a pair of track motors 28 drive a transmission system such as a screw nut, gear link, rack and pinion or timing belt pulley to allow the platform 20 to reciprocate between the rear track stand 18a and the front track stand 18c.
  • a slide rail slider mechanism can be added for guidance and balance.
  • the operating assembly housing 15 is disposable and the base housing 66 is non-disposable.
  • the connection structure between the operating component 14 and the driving component 16 is a permanent magnet. That is, permanent magnets are respectively provided on the operating component 14 and the driving component 16 to attract and securely connect each other. Specifically, the permanent magnet of the operating component 14 is fixed on the operating component housing 15 , and the permanent magnet of the driving component 16 is disposed close to the permanent magnet of the operating component 14 .
  • the permanent magnets of the operating assembly 14 and the driving assembly 16 attract each other and are fixed together.
  • the driving component 16 moves, the magnetic force can drive the operating component 14 outside the base housing 66 and the operating component housing 15 to move in the same direction. This enables non-contact power transmission under completely closed conditions.
  • the connection structure between the operating component 14 and the driving component 16 may also be an electromagnet.
  • the connection structure between the operating component 14 and the driving component 16 can also be a linkage connected to the driving component 16, which extends out of the base housing 66 and is extended and fixed on the operating component housing 15 (ie, a deterioration solution).
  • a second electromagnet 50 is also housed within the base housing 66, on the non-sterile side of the reusable.
  • the upper portion of the clamping module 12 includes a clamp 56 housed within a clamp housing 58 .
  • Clamp housing 58 includes a top plate 52 for mounting cylinder 54a.
  • clamp housing 58 is disposable.
  • the surgical robot device 100 of the present invention is designed to simulate and realize the above-mentioned surgical process of two hands in a simple and effective manner.
  • the surgical robotic device 100 of the present invention completely isolates the components on the sterile side from the non-sterile side. This not only realizes non-contact air-to-air control of intracavity medical instruments 32, but also prevents some expensive components from being contaminated, allowing them to be reused in another clinical operation after being used in one clinical operation.
  • the surgical robot device 100 of the present invention can replace a human operator, allowing the operator to not only avoid radiation exposure problems when working remotely, but also extend the operation time of a single operator. In addition, this may eliminate geographical restrictions on surgeons who require special expertise in certain surgeries and enable remote medicine.
  • the delivery module 10 of the surgical robot device 100 of the present invention can perform the following functions: 1) clamp the intracavity medical instrument 32 and deliver or pull the intracavity medical instrument 32; 2) clamp and rotate the intracavity medical instrument 32.
  • the delivery module 10 includes an operating component 14 and a driving component 16.
  • the operating component 14 operates the intracavity medical instrument 32 to deliver it into the patient's body or withdraw it from the patient's body.
  • the driving assembly 16 includes at least one magnetic driving wheel
  • the operating assembly 14 includes at least one magnetic induction wheel corresponding to the magnetic driving wheel.
  • the magnetic driving wheel controls the magnetic induction wheel in a non-contact manner.
  • the operating assembly 14 has a magnetic rotating wheel 36a and a magnetic clamping wheel 36b.
  • the magnetic rotating wheel 36a and the magnetic clamping wheel 36b are respectively supported by the bearing seat 34c and the bearing seat 34a.
  • the bearing seat 34c and the bearing seat 34a are fixed on on the support 38.
  • the driving assembly 16 includes two drivers, one of which is the first electromagnet 22 and the other is the magnetic driving wheel 30 driven by the driving motor 24.
  • Each driver is controlled by an operator (not shown), preferably controlled by remote control.
  • the magnetic rotating wheel 36a and the magnetic clamping wheel 36b realize magnetic transmission under the non-contact air-to-air control of the magnetic driving wheel 30 and the first electromagnet 22 to operate the intracavity medical instrument 32 and deliver it into the patient's body or from the patient's body. withdrawn from the body.
  • a plurality of permanent magnets 60 are fixed on the magnetic rotating wheel 36a, the magnetic clamping wheel 36b and the magnetic driving wheel 30.
  • the permanent magnet 60 is a circular permanent magnet block, which is embedded in the outer circumferential surface of the magnetic rotating wheel 36a, the magnetic clamping wheel 36b and the magnetic driving wheel 30.
  • the polarities of two adjacent permanent magnet blocks are opposite, and there is an even number. Therefore, the magnetic rotating wheel 36a, the magnetic clamping wheel 36b and the magnetic driving wheel 30 are also called the permanent magnetic rotating wheel 36a, the permanent magnetic clamping wheel 36b and the permanent magnetic driving wheel 30.
  • the first electromagnet 22 is controlled by an operator (not shown).
  • the magnetic force between the magnetic field of the first electromagnet 22 and the permanent magnet 60 on the magnetic clamping wheel 36b is used to control the magnetic clamping wheel 36b by the first electromagnet 22, while keeping the magnetic clamping wheel 36b stationary. , there is no need for the first electromagnet 22 to be in direct or indirect contact with the magnetic clamping wheel 36b.
  • the magnetic force between the magnetic rotating wheel 36a and/or the magnetic clamping wheel 36b and the mutually paired permanent magnets 60 on the magnetic driving wheel 30 is utilized to realize the pairing of the magnetic driving wheel 30 with the magnetic rotating wheel 36a and/or the magnetic clamping wheel.
  • 36b is controlled to allow the magnetic rotating wheel 36a and the magnetic clamping wheel 36b to rotate synchronously to achieve non-contact power transmission in a completely closed situation.
  • the permanent magnet 60 is a permanent magnet ring sleeved on the outer circumferential surface of the magnetic rotating wheel 36a, the magnetic clamping wheel 36b and the magnetic driving wheel 30.
  • Each permanent magnet ring has an even number of permanent magnets along the circumferential direction. Segments, the polarities of two adjacent permanent magnet segments are opposite.
  • FIG. 6 is a top view of the operating assembly 14 in FIG. 5 .
  • Figure 6a is a cross-sectional view along B-B in Figure 6, in which the collet is in an open state.
  • Figure 6b is a cross-sectional view along B-B in Figure 6, in which the collet is in a closed state.
  • Figure 7 is a schematic diagram of the operating assembly 14 (the housing is not shown) of the present invention, illustrating the operation of the collet from opening to closing.
  • Figure 8 is a schematic diagram of the operating assembly 14 (not shown of the housing) of the present invention, illustrating the rotation operation of the collet on it.
  • the operating assembly 14 also includes cylindrical bearings 62a, 62b respectively protruding from the outer surfaces of the magnetic rotating wheel 36a and the magnetic clamping wheel 36b.
  • the intracavity medical instrument 32 is inserted through the cylinder. in the shaped bearing 62.
  • the cylindrical bearing 62 is supported within the bearing housings 34a, 34b and 34c.
  • the operating assembly 14 also includes a collet 40 located between the magnetic rotating wheel 36a and the magnetic clamping wheel 36b and supported by the bearing housing 34b.
  • the collet 40 includes a clamping mouth 42, a sleeve 48, a sleeve shaft 46 that cooperates with the sleeve 48, and elastic tweezers 44.
  • the sleeve 48 is protrudingly disposed on the inner side of the magnetic clamping wheel 36b, that is, the cylindrical bearing 62b and the sleeve 48 are respectively disposed on two opposite sides of the magnetic clamping wheel 36b.
  • Internal threads 48b are formed on the inner wall of the sleeve 48.
  • the clamping mouth 42 is opened in the center of the magnetic clamping wheel 36b and is connected with the cylindrical bearings 62b and the sleeve 48 on both sides.
  • the jaw 42 gradually becomes narrower from the front (right) to the back (left).
  • the sleeve shaft 46 is protrudingly arranged on the inner side of the magnetic rotating wheel 36a, that is, the cylindrical bearing 62a and the sleeve shaft 46 are respectively arranged on two opposite sides of the magnetic rotating wheel 36a.
  • the sleeve 46 is coaxially positioned within the sleeve 48, has external threads 48a that engage internal threads 48b, and can be threaded toward the jaw 42.
  • the sleeve shaft 46 further extends to form elastic tweezers 44 that can extend into the clamping mouth 42 .
  • the elastic tweezers 44 have at least two clips.
  • the intracavity medical instrument 32 is simultaneously inserted into the sleeve shaft 46 , the elastic forceps 44 and the clamping mouth 42 .
  • the magnetic rotating wheel 36a under the control of the magnetic driving wheel 30, the magnetic rotating wheel 36a is allowed to rotate clockwise, while the magnetic clamping wheel 36b is fixed and does not rotate, and the sleeve shaft 46 spirally enters the sleeve 48, so that the clips of the elastic tweezers 44 are further Go deep into the gradually narrowing clamping mouth 42 and stick closely to the medical device 32 in the cavity until the clips of the elastic forceps 44 firmly clamp the medical device 32 in the cavity, so that the collet 40 is in a closed state, as shown in Figure 6b Show.
  • the magnetic driving wheel 30 controls the magnetic rotating wheel 36a to rotate counterclockwise.
  • the magnetic clamping wheel 36b is fixed and does not rotate.
  • the sleeve shaft 46 rotates away from the sleeve 48, driving the clamping piece of the elastic tweezers 44 to leave the clamping mouth 42. Entering the wider area of the sleeve 48 releases the intracavity medical instrument 32, whereby the collet 40 is in an open state, as shown in Figure 6a.
  • the sleeve shaft 46 and the sleeve 48 are locked together through a Luer connector structure.
  • the clips of the elastic forceps 44 hold the intraluminal medical instrument 32 or the collet 40 in a closed state, and the magnetic clamp is released by switching the first electromagnet 22 to the off state. Holding Wheel 36b.
  • the magnetic rotating wheel 36a can be rotated by applying torque in either direction, while the magnetic clamping wheel 36b rotates synchronously in the corresponding direction following the magnetic rotating wheel 36a.
  • the magnetic rotating wheel 36a and the magnetic clamping wheel 36b may be rotated synchronously by applying torque to them simultaneously.
  • the operating assembly 14 can enable clamping or releasing, delivering or pulling, and twisting/rotating the intraluminal medical instrument 32 in a simple manner.
  • Figure 9 is a top view of the clamping module 12 of the present invention.
  • Figure 9a is a cross-sectional view along C-C in Figure 9, in which the clamping module 12 is in an open state.
  • Figure 9b is a cross-sectional view along C-C in Figure 9, in which the clamping module 12 is in a closed state.
  • the clamping module 12 includes a second electromagnet 50 and a clamp 56.
  • the second electromagnet 50 is located on the non-sterile side and housed within the base housing 66 .
  • Clamp 56 is located on the sterile side and housed within clamp housing 58 .
  • the clamp 56 includes a cylinder 54a, a chuck 70 slidably installed in the cylinder 54a, and a magnet 54b fixed to the chuck 70.
  • the cylinder 54a is mounted on the top plate 52 through the fixing member 72.
  • the second electromagnet 50 is switched to the engaged state or the disconnected state, and the electromagnetic force of the second electromagnet 50 is used to attract or release the magnet 54b to operate the clamping module 12 .
  • the collet 70 slides in the cylinder 54a to approach and clamp the intraluminal medical device 32 or to move away from the intraluminal medical device 32 to release the intraluminal medical device 32.
  • the collet 70 is in an open state and a closed state respectively to release or clamp the intraluminal medical instrument 32 passing through the collet 70, respectively.
  • FIG. 10 is another schematic diagram of FIG. 4 , in which the intraluminal medical device 32 is loaded and clamped by the operating assembly 14 for delivery into the patient's body.
  • FIG. 11 is another schematic diagram of FIG. 4 , in which the intracavitary medical device 32 is loaded and clamped by the operating assembly 14 and withdrawn from the patient's body.
  • the collet 40 when the collet 40 is in a closed state, the collet 40 holds the intraluminal medical instrument 32 and uses the platform 20 to move along the track 18b from the rear end track stand 18a to the front end.
  • the track stand 18c connects the operating component 14 and the driving component 16 together through a connecting structure.
  • the driving component 16 on the platform 20 drives the operating component 14 to move synchronously so that the entire operating component 14 moves toward the patient.
  • Intracavitary medical instruments 32 is gradually delivered into the subject's body, and its delivery distance is approximately the distance between the rear track stand 18a and the front track stand 18c.
  • the operating assembly 14 After the platform 20 reaches the front rail stand 18c, a section of the intraluminal medical instrument 32 has been delivered into the patient's body, and the operating assembly 14 is close to the clamping module 12. At this time, similar to the current manual surgery, by engaging the second electromagnet 50, the clamping module 12 closes the magnet 54b, thereby clamping and keeping the intracavity medical instrument 32 fixed. At the same time, through the non-contact air-to-air control of the first electromagnet 22 and the magnetic driving wheel 30, the operating assembly 14 puts the collet 40 in an open state and releases the medical instrument 32 in the cavity.
  • the platform 20 is moved along the track 18b from the front track stand 18c to the rear track stand 18a, and the operating component 14 and the driving component 16 are connected together through the connecting structure, then the driving component 16 on the platform 20 drives the operating component 14 moves synchronously to keep the entire operating component 14 away from the subject.
  • the surgical robot device 100 of the present invention is ready to perform another reciprocating motion to deliver the next section of the intraluminal medical instrument 32 into the patient's body.
  • the clamp 56 is in an open state, that is, the medical instrument 32 in the cavity is released, and the collet 40 clamps the medical instrument 32 in the cavity again.
  • Similar coordinated actions between operating assembly 14 and clamping module 12 apply to the process of withdrawing intraluminal medical device 32 from a subject. That is, the collet 40 can deliver, pull, or twist/rotate the intraluminal medical device 32 during closure, while the clamping module 12 is in an open state (ie, the magnet 54b is released) to release the intraluminal medical device 32 .
  • the collet 40 is in an open state to release the intracavitary medical instrument 32
  • the clamping module 12 is in a closed state (ie, the magnet 54b is attracted)
  • the clamping module 12 is in a closed state (that is, the magnet 54b is attracted).
  • the intracavity medical instrument 32 is held so that the intracavity medical instrument 32 stops moving during the switching period of the operating component 14 to prevent the patient from being affected.
  • the intraluminal medical device 32 while the clamp 56 of the clamping module 12 clamps the intraluminal medical device 32, the intraluminal medical device 32 is movable relative to the clamp 56. That is, the track 18b is long enough.
  • the delivery module 10 drives the intracavity medical device 32 to be delivered or pulled in one direction and twisted/rotated to move relative to the clamp 56.
  • the clamp 56 Only the medical device 32 in the cavity is supported so that it is straight and not bent.
  • Figure 12 is yet another schematic view of Figure 4, in which the delivery module 10 is in the initial position of triggering the sensor.
  • Figure 13 is yet another schematic diagram of Figure 4, in which the delivery module 10 is in the end position of triggering the sensor.
  • the operation and motion sequence of each component of the surgical robot device 100 of the present invention are fully or partially controlled by the automatic control device through wired or wireless control. Therefore, the surgical robot device 100 of the present invention further includes sensors that facilitate automatic control.
  • the surgical robot device 100 of the present invention further includes a rear position sensor 80a and a front position sensor 80b, respectively used to sense whether the platform 20 reaches the rear track stand 18a or the front track stand 18c.
  • the rear position sensor 80a and the front position sensor 80b are respectively installed on the rear track stand 18a and the front track stand 18c.
  • the rear position sensor 80a and the front position sensor 80b may be based on motion sensors such as passive infrared (PIR), ultrasonic, microwave or tomography detection to measure the movement of the platform 20 to the rear track stand 18a and the front track stand 18c. distance to obtain information on how far the intracavity medical device 32 enters the patient.
  • the rear position sensor 80a and the front position sensor 80b may be touch sensors such as pressure sensors or light sensors that measure when the platform 20 is in contact with the rear track stand 18a or the front track stand 18c.
  • the surgical robot device 100 of the present invention is ready to perform another reciprocating motion to deliver the next section of the intracavity medical instrument 32 into the cavity.
  • the first electromagnet 22 and the magnetic driving wheel 30 control the magnetic rotating wheel 36a and the magnetic clamping wheel 36b in a non-contact manner, so that the collet 40 is in a closed state and clamps the medical instrument 32 in the cavity.
  • the control platform 20 drives the delivery module 10 to move toward the front track stand 18c.
  • the platform 20 is used to move along the track 18b from the rear track stand 18a to the front track stand 18c, so that the entire delivery module 10 moves toward the subject, and the intracavitary medical instrument 32 is gradually delivered into the subject's body, and the delivery distance It is approximately the distance between the rear track stand 18a and the front track stand 18c.
  • the surgical robot device 100 of the present invention may also include other sensors capable of automatic control to control the coordinated actions between the operating component 14 and the clamping module 12 .
  • the collet 40 can deliver, pull, or twist/rotate the intraluminal medical instrument 32 while the clamping module 12 is in an open state (i.e., the magnet 54b is released) to release the intraluminal medical instrument 32; during operation During the transition of the assembly 14 from one section of the intracavitary medical device 32 to another, the collet 40 is in an open state to release the intracavitary medical device 32, and the clamping module 12 is in a closed state (that is, the magnet 54b is attracted), clamping the cavity.
  • the intracavity medical instrument 32 is allowed to stop moving during the switching of the operating component 14 to prevent affecting the patient.
  • Figure 14 is a perspective assembled view of three surgical robotic devices 100 of the present invention shown in Figure 5, showing an embodiment with multiple pairs of delivery modules and clamping modules for operating multiple intraluminal medical instruments on a subject.
  • surgical robot device 100 of the present invention there is enough space in clinical practice to configure multiple similar surgical robot devices, such as the surgical robot devices 200 and 300, beside the operating bed, as shown in Figure 14.
  • the structures of surgical robotic devices 200 and 300 may be the same as or similar to surgical robotic device 100 .
  • multiple intracavity medical instruments such as catheters carrying various surgical instruments, various implant interventional instruments, various diagnostic sensors, various drugs, etc.
  • catheters carrying various surgical instruments, various implant interventional instruments, various diagnostic sensors, various drugs, etc. can be delivered into the patient's body or from the patient during the same operation. withdrawn from the body.
  • FIG. 14 Although three surgical robot devices are illustrated in FIG. 14 , this should not be construed as limiting the scope of the present invention. In alternative embodiments, any number of surgical robotic devices of the present invention may be used during the same surgery.
  • the operation of the surgical robot device 100 of the present invention can also be completed by any combination of manual and automated methods.
  • the operations of the magnetic clamping wheel 36b and the magnetic rotating wheel 36a can be directly completed remotely by a person holding the remote controller without the need for the magnetic driving wheel 30 and the first electromagnet 22, and the movement of the platform 20 can be completed automatically.
  • the delivery or pulling and twisting/rotation of the intraluminal medical instrument 32 can be completed only by the delivery module 10 without the need for the clamping module 12 .
  • a clip can be fixed on the base shell 66 for clamping and supporting the medical device 32 in the cavity to prevent it from twisting.
  • the clamping module 12 only includes two friction rollers arranged oppositely without the second electromagnet 50 .
  • the track 18b is long enough to allow the platform 20 to drive the delivery module 10 to deliver or pull and twist/rotate in one direction without the need for back and forth.
  • the intracavity medical instrument 32 is sandwiched between the two friction rollers but can be delivered or rotated freely. Pull and twist/rotate. All such alternative embodiments are within the scope of the invention.
  • rotating magnetic rotating wheel 36a clockwise or counterclockwise to rotate sleeve 46 into or out of sleeve 48 may be accomplished by another magnetic drive wheel such as magnetic drive wheel 30 (i.e., by another magnetic drive wheel such as drive motor 24
  • the magnetic drive wheel 30 in this embodiment is only used to drive the magnetic rotating wheel 36a to rotate, and the magnetic clamping wheel 36b follows the magnetic rotating wheel 36a to rotate synchronously in the corresponding direction.
  • the collet 40 is controlled by a first and a second two magnetic driving wheels, such as the magnetic driving wheel 30 , instead of the one magnetic driving wheel 30 and the first electromagnet 22 in this embodiment.
  • the first magnetic driving wheel controls the magnetic clamping wheel 36b to rotate in a certain direction without contact
  • the second magnetic driving wheel controls the magnetic rotating wheel 36a to rotate in the other direction without contact
  • the collet 40 is in the In the closed state
  • the medical device 32 in the cavity can be clamped, which can achieve rapid clamping and improve efficiency; then, the first and second magnetic driving wheels can be rotated synchronously in the same direction, thereby controlling the magnetic rotating wheel 36a and the magnetic field in a non-contact manner.
  • the clamping wheels 36b rotate synchronously in the same direction to achieve transmission.
  • the left and right hands can also be interchanged according to the surgeon's operating habits. That is, the operator's left hand loosely supports the intracavity medical instrument 32, and his right hand (sometimes both hands) pushes, pulls, or twists/rotates the intracavity medical instrument 32.
  • the surgeon holds the intracavitary medical instrument 32 with his left hand and does not move.
  • the subject may be located further to the left in FIG. 1 .
  • the clamping module 12 is located on the left side of the delivery module 10 and is fixed between the subject and the delivery module 10 .
  • another track 8b is provided in the base shell 66 and is supported and fixed by another rear track stand 18a and another front track stand 18c.
  • Another platform 20 is disposed on the other track 8b. to carry the second electromagnet 50 of the clamping module 12 .
  • the delivery module 10 and the clamping module 12 simultaneously clamp the intraluminal medical instrument 32, allowing the carrying driving assembly 16 and the third
  • the two platforms 20 of the two electromagnets 50 move along their respective tracks 18b from the rear track stand 18a to the front track stand 18c, allowing the operating assembly 14 and the clamp 56 to clamp the intracavity medical instrument 32 and move it toward the patient. After one of the platforms 20 reaches the front track stand 18c, a section of the intraluminal medical instrument 32 has been delivered into the patient's body.
  • the platform 20 drives the operating assembly 14 to leave the front track stand 18c and move to the rear track stand 18a.
  • the collet 40 and clamp 56 be in a closed state, let the two platforms 20 carrying the driving assembly 16 and the second electromagnet 50 move toward the patient along their respective tracks 18b, and let the operating assembly 14 Together with the clamp 56, the intraluminal medical device 32 is clamped and delivered into the patient's body. In this way, the intracavity medical instrument 32 is delivered to the designated location.
  • the other track 18b is longer than track 18b.
  • the above operation can be basically performed in reverse. Of course there can be some adjustments.
  • another clamping module 12 is disposed between the delivery module 10 and the subject, but the other clamping module 12 only includes two oppositely arranged friction rollers without the second electromagnet 50 , please refer to the above related description for specific operation.
  • a Y-valve fixing structure can be provided on both clamping modules 12. When necessary, the Y-valve can be replaced from a Y-valve fixing structure far away from the subject to a Y-valve fixing structure close to the subject.
  • the fast intercourse assembly may also be provided on the clamping module 12 away from the subject for delivering the fast intercourse catheter.
  • only one track 8b can be provided in the base shell 66, and the two platforms 20 are disposed on the same track 18b, and the two platforms 20 are driven to move by two different motors, instead of using one or a pair of tracks.
  • the motor 28 By driving the motor 28, the above-mentioned operation of the intracavity medical instrument 32 can also be realized.
  • the clamping module 12 may also be replaced by another delivery module 10 .
  • the surgical robot device includes two delivery modules 10, and both delivery modules 10 can move linearly toward or away from the patient on the track to achieve delivery or pulling and twisting of the intracavity medical instrument 32. Rotate.
  • the two delivery modules 10 can move on the same track or on different tracks; the same drive motor can be used to drive the two delivery modules 10 for one-way or reciprocating delivery, or different drive motors can be used respectively.
  • the two delivery modules 10 are driven for one-way or reciprocating delivery.
  • the track 18b is a screw rod driven by the driving motor 28, and is provided with two sections of threads in opposite directions, as shown by the arrows in the figure.
  • the platform 20 carrying the two delivery modules 10 is provided with threaded nuts.
  • the collet 40 of the left delivery module 10 is in a closed state
  • the collet 40 of the right delivery module 10 is in an open state.
  • the drive motor 28 drives the screw rod to rotate.
  • the two delivery modules 10 are close to each other, allowing the intracavity medical instrument 32 to move towards the recipient.
  • the operator moves, as shown in Figure 15a.
  • the collet 40 of the left delivery module 10 When the two delivery modules 10 move toward each other to the limit, the collet 40 of the left delivery module 10 is in an open state, and the collet 40 of the right delivery module 10 is in a closed state.
  • the drive motor 28 drives the screw rod to rotate in the opposite direction, and the two delivery modules 10 move away from each other, but the intracavitary medical instrument 32 continues to move toward the patient, as shown in Figure 15b.
  • the opposite operation can be performed.
  • two sections of threads with opposite directions of rotation can be respectively provided on two different screw rods and driven by two drive motors respectively.
  • the delivery module 10 close to the patient can also be made to perform reciprocating motion, while the delivery module 10 far away from the patient can be made to perform unidirectional motion, thereby realizing delivery of the intracavity medical device 32 .
  • the opposite operation can be performed.
  • FIGS. 16 and 17 illustrate the process of using gear connecting rods and rack-and-pinion transmission mechanisms to drive two delivery modules 10 for reciprocating delivery, thereby achieving continuous delivery of intracavity medical devices.
  • the two delivery modules 10 in the figure have one driving motor, in alternative embodiments, the two delivery modules 10 can also be driven by different driving motors.
  • the delivery module 10 close to the patient can also be made to perform reciprocating motion, while the delivery module 10 far away from the patient can be made to perform unidirectional motion, thereby realizing delivery of the intracavity medical device 32 .
  • the opposite operation can be performed.
  • air-to-air control/transmission in the present invention refers to control/transmission achieved without spatial contact, rather than control/transmission through air media.
  • the driving component 16 includes a stator winding 92
  • the operating component 14 correspondingly includes a ferromagnetic rotor 94.
  • the stator winding 92 When the stator winding 92 is energized, it generates a changing magnetic field. And acts on the ferromagnetic rotor 94 to form a magneto-electric rotating torque, allowing the ferromagnetic rotor 94 to drive the medical device 32 in the cavity to rotate.
  • non-contact air-to-air control/transmission of the present invention is driven by non-contact force, that is, various field forces such as electric field force and magnetic field force. It does not require a medium and can be used in vacuum. That is to say, any use of the force of any field on the material placed in it to achieve "non-contact air-to-air control/transmission" falls within the scope of protection of the invention.
  • the surgical robot device 100 of the present invention realizes non-contact air-to-air control/transmission while placing expensive components such as mechanical drive gears and motors on the non-sterile side in a completely enclosed space, thus achieving sterile isolation.
  • expensive components such as mechanical drive gears and motors

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Abstract

一种手术机器人装置（100），其包括可朝向或远离受术者移动的递送模块（10），递送模块（10）包括驱动组件（16）及操作组件（14），操作组件（14）和驱动组件（16）分别位于隔离开的无菌侧和非无菌侧，操作组件（14）在驱动组件（16）非接触地隔空控制下移动和/或转动，让操作组件（14）带着腔内医疗器械（32）递送进入受术者体内或者从受术者体内撤出。不仅通过隔空控制实现了非接触式动力传动，而且让驱动组件（16）置于非无菌侧，实现了无菌隔离，可重复使用。

Description

一种手术机器人装置及其操作方法 技术领域
本发明涉及一种医疗手术机器人装置，尤其涉及一种临床上用于操作导管、导丝等腔内医疗器械的手术机器人装置及其操作方法。
背景技术
当前，在涉及使用导管的手术中，术者需要站在受术者附近操作如指引导丝、指引导管或血管成形术导管等腔内医疗器械进入具有血管系统的受术者体内或从受术者体内撤出。由于许多临床治疗中，当使用(X射线)荧光检查仪时需要术者花费大量时间站在受术者身边，但术者又不能长期暴露于辐射下。因此经常采用多班次或限时来满足暴露要求，不仅增加手术成本而且还让术者处于不利的条件下。
另外，在与患者接触的无菌部分和手术装置的非无菌部分之间不进行隔离被证明是极其昂贵的。因为非无菌部分通常是昂贵的机械驱动齿轮或电机等，不能重新消毒，必须在使用一次之后丢弃。即使可以对机械驱动齿轮或电机等进行重新消毒，也往往过于昂贵。
此外，目前进行导管操作的机器人(亦称“导管机器人”)体积庞大且昂贵。
发明内容
基于此，有必要针对现有技术中的不足，提供一种实现无菌隔离的新手术机器人装置及其操作方法。
本发明提供一种手术机器人装置，其包括可朝向或远离受术者移动的递送模块，所述递送模块包括驱动组件及操作组件，所述操作组件和驱动组件分别位于隔离开的无菌侧和非无菌侧，所述操作组件在所述驱动组件非接触地隔空控制下移动和/或转动，让所述操作组件带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
优选地，所述驱动组件通过磁驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件通过电磁感应驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件通过电场耦合驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件通过直流谐振驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件包括至少一磁驱动轮，所述操作组件包括至少一对应所述磁驱动轮的磁感应轮，所述磁驱动轮非接触地隔空控制所述磁感应轮转动。
优选地，所述操作组件包括永磁性旋转轮和永磁性夹持轮，所述驱动组件包括永磁性驱动轮和第一电磁铁，所述第一电磁铁非接触地隔空控制所述永磁性夹持轮固定不动，所述永磁性驱动轮非接触地隔空控制所述永磁性旋转轮转动。
优选地，所述手术机器人装置还包括设于所述永磁性旋转轮和永磁性夹持轮之间的筒夹，所述筒夹用于穿设腔内医疗器械，借助所述永磁性旋转轮和永磁性夹持轮的相对运动，让筒夹处于闭合状态而夹持腔内医疗器械或者让筒夹处于打开状态而松开腔内医疗器械。
优选地，所述筒夹包括套筒和同轴地定位在套筒内的套轴，所述套筒内于一端设有内螺纹、于另一相对端形成夹嘴，所述套轴上设有与内螺纹配合的外螺纹和对应所述夹嘴的弹性镊子，所述套轴向所述套筒的另一端旋转进入所述套筒，将所述镊子推送进入所述夹嘴，让所述镊子弹性收缩而夹持住腔内医疗器械，或者所述套轴向远离所述套筒的另一端旋转撤出所述套筒，将所述镊子拉拽撤出所述夹嘴，让所述镊子恢复扩张而松开腔内医疗器械。
优选地，所述套筒凸设于所述永磁性夹持轮和永磁性旋转轮其中之一，所述套轴凸设于所述永磁性夹持轮和永磁性旋转轮其中之另一。
优选地，所述镊子包括若干夹片。
优选地，所述操作组件包括永磁性旋转轮、永磁性夹持轮和筒夹，所述永 磁性夹持轮固定不动而所述永磁性旋转轮相对所述永磁性夹持轮旋转时，让所述筒夹分别处于闭合状态和打开状态而夹持或松开腔内医疗器械。
优选地，当所述筒夹处于闭合状态而夹持腔内医疗器械、所述永磁性夹持轮被释放时，所述永磁性旋转轮和永磁性夹持轮同步旋转而带动腔内医疗器械转动。
优选地，所述手术机器人装置还包括轨道，所述驱动组件沿所述轨道移动时非接触地隔空控制所述操作组件移动。
优选地，所述驱动组件和操作组件分别设有互相吸合而定位的磁性元件。
优选地，当所述筒夹处于闭合状态而夹持腔内医疗器械、所述永磁性夹持轮被释放时，让所述驱动组件沿所述轨道移动，所述驱动组件的磁性元件吸住所述操作组件的磁性元件而让所述操作组件同步移动，使所述递送模块沿所述轨道向受术者递送或者远离受术者撤出腔内医疗器械。
优选地，所述操作组件还包括分别凸设于永磁性旋转轮和永磁性夹持轮的两筒形轴承，两筒形轴承分别支撑于两轴承座上，所述筒夹支撑于位于所述两轴承座之间的另一轴承座上。
优选地，所述驱动组件置于位于非无菌侧的底座外壳内，所述操作组件置于位于无菌侧的操作组件外壳内，所述操作组件外壳可线性移动并可方便拆卸地安装于底座外壳上。
优选地，所述无菌侧和非无菌侧之间设置有无菌屏障而隔离开，所述底座外壳位于无菌屏障下方。
优选地，所述操作组件包括永磁性旋转轮和永磁性夹持轮，所述驱动组件包括第一永磁性驱动轮和第二永磁性驱动轮，所述第一永磁性驱动轮和第二永磁性驱动轮分别非接触地隔空控制所述永磁性夹持轮和永磁性旋转轮转动。
优选地，所述手术机器人装置还包括夹持模块，所述夹持模块包括位于无菌侧、用于支撑腔内医疗器械的支撑件。
优选地，所述手术机器人装置还包括夹持模块，所述夹持模块还包括位于无菌侧的夹具和位于非无菌侧的控制器，所述控制器非接触地隔空控制所述夹具夹持或者松开腔内医疗器械。
优选地，所述夹持模块位于递送模块和受术者之间固定不动，当所述夹持模块松开腔内医疗器械时，所述操作组件夹持并操控腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
优选地，所述夹持模块位于递送模块和受术者之间固定不动，当所述夹持模块夹持住腔内医疗器械时，所述操作组件松开腔内医疗器械而向受术者移动或者远离受术者。
优选地，所述控制器通过磁控制方式控制所述夹具夹持或者松开。
优选地，所述控制器为第二电磁铁。
优选地，所述夹具包括缸体、可滑动地安装于缸体内的夹头和固定于夹头的磁铁，利用第二电磁铁非接触地隔空吸住或释放所述磁铁，让所述夹头在缸体中滑动以靠近而夹持腔内医疗器械或离开腔内医疗器械而释放腔内医疗器械。
优选地，所述递送模块位于夹持模块和受术者之间，所述夹持模块和递送模块一起带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出一定距离、所述递送模块向靠近所述夹持模块的方向移动一定距离后，所述夹持模块和递送模块再次一起带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
优选地，所述手术机器人装置还包括位于递送模块和受术者之间的夹持模块，所述夹持模块包括两个相对夹持腔内医疗器械的摩擦滚轮，当所述操作组件夹持并操控腔内医疗器械递送进入受术者体内或者从受术者体内撤出，腔内医疗器械相对所述两摩擦滚轮运动。
优选地，所述手术机器人装置还包括至少两个位置传感器，用于感应所述递送模块到达了远端极限位置或者近端极限位置。
本发明提供的手术机器人装置不仅通过隔空控制实现了非接触式传动，而且让所述驱动组件置于非无菌侧，实现了无菌隔离，可重复使用。
本发明还提供一种手术机器人装置的操作方法，所述手术机器人装置包括递送模块，所述递送模块包括驱动组件及操作组件，所述操作方法包括：
让所述操作组件位于无菌侧，所述驱动组件位于与无菌侧隔离开的非无菌侧。
使所述操作组件在所述驱动组件非接触地隔空控制下移动和/或转动，让所述操作组件带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
优选地，所述驱动组件通过磁驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件通过电磁感应驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件通过电场耦合驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件通过直流谐振驱动方式来控制所述操作组件移动和/或转动。
优选地，所述驱动组件包括至少一磁驱动轮，所述操作组件包括至少一对应所述磁驱动轮的磁感应轮，所述磁驱动轮非接触地隔空控制所述磁感应轮。
优选地，所述手术机器人装置还包括轨道，所述驱动组件沿所述轨道移动时非接触地控制所述操作组件移动。
优选地，所述驱动组件和操作组件分别设有互相吸合而定位的磁性元件。
优选地，所述手术机器人装置还包括夹持模块，所述夹持模块包括位于无菌侧的夹具和位于非无菌侧的控制器，所述夹具受所述控制器非接触地隔空控制而夹持或者松开腔内医疗器械。
优选地，让所述夹持模块位于递送模块和受术者之间固定不动，让所述夹持模块夹持腔内医疗器械不动而所述操作组件松开腔内医疗器械时，所述递送模块向受术者移动或者远离受术者。
本发明提供的手术机器人装置的操作方法实现了“非接触地隔空控制/传动”，避免了直接或间接接触传动时体液或污物的侵入或渗漏，防止了驱动组件的污染，对其进行了最大限度的无菌隔离防护。
附图说明
图1为本发明手术机器人装置(未示外壳)的示意图，用来在受术者体内操作腔内医疗器械。
图2为图1的左侧透视图，安装了外壳。
图3为图1的右侧透视图，安装了外壳。
图4为图2中沿A-A的剖视图。
图5为图1的正视图，安装了外壳。
图6为图5中操作组件的俯视图。
图6a为图6中沿B-B的剖视图，其中筒夹处于打开状态。
图6b为图6中沿B-B的剖视图，其中筒夹处于闭合状态。
图7为图1中操作组件的另一示意图，示意了其上筒夹由打开至闭合的操作。
图8为图1中操作组件的另一示意图，示意了其上筒夹的转动操作。
图9为图5中夹持模块的俯视图。
图9a为图9中沿C-C的剖视图，其中夹持模块处于打开状态。
图9b为图9中沿C-C的剖视图，其中夹持模块处于闭合状态。
图10为图4的另一示意图，其中加载了腔内医疗器械并由操作组件夹持递送进受术者体内。
图11为图4的再一示意图，其中加载了腔内医疗器械并由操作组件夹持撤退出受术者体内。
图12为图4的再一示意图，其中递送模块处于触发传感器的初始位置。
图13为图4的再一示意图，其中递送模块处于触发传感器的终点位置。
图14为图5中三个本发明手术机器人装置的立体组合图。
图15a、图15b为本发明手术机器人装置的两个递送模块的一工作过程示意图。
图16为本发明手术机器人装置的两个递送模块的又一工作过程示意图。
图17为本发明手术机器人装置的两个递送模块的再一工作过程示意图。
图18为本发明手术机器人装置(未示外壳)的另一示意图。
具体实施方式
为了使发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以 解释发明，并不用于限定发明。
在本发明的描述中，“近端”指靠近术者的一端。“远端”指远离术者的一端。除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸地连接，或一体地连接；可以是机械连接，也可以是电连接或磁连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
本发明手术机器人装置可以用于递送或撤出例如腔内医疗器械。应当理解，术语“腔内”包括自然腔道、泛血管内腔以及器官内腔等管腔。术语“腔内医疗器械”可以指任何形状或任何一种导管、指引导丝、指引导管、血管成形术导管，亦或内窥镜、各种腔镜、管镜等，包括适用于血管介入、电生理、结构性心脏病等术式的任何导管类或导丝类耗材器械。因此，本发明手术机器人装置也可称为“导管机器人”。应当理解，本发明的范围和精神不限于本发明的这些示例。
为了便于说明本发明手术机器人装置100的操作，此处参照当前的人工手术进行对比描述。人工手术中，术者代替本发明手术机器人装置100通常站在图1中受术者的左侧(未示出)以操作腔内医疗器械32递送进入受术者体内或从受术者体内撤出。递送腔内医疗器械32主要涉及两种力：一种是轴向刚性推送或拉拽可灵活弯曲的腔内医疗器械32的力，另一种是在推动的同时刚性旋转腔内医疗器械32的扭力。这需要术者的两只手互相协调动作以将腔内医疗器械32递送进入受术者体内或者从受术者体内撤出。
进一步而言，例如，假设术者在递送腔内医疗器械32期间背对着图1站着，术者右手松开但支撑住腔内医疗器械32。同时，术者用左手(有时是双手)推送、拉拽或扭转刚性但柔韧的腔内医疗器械32。当腔内医疗器械32的第一段递送入受术者体内过程中，左手逐渐靠近右手，术者用右手抓住腔内医疗器械32不动，同时松开左手并进一步向下移动到左侧，以准备将腔内医疗器械32的下一段推送和/或旋转进入受术者。左手和右手之间的这种互相协调动作同样适用于从受术者体内撤出腔内医疗器械32的手术过程。即在左手拉拽或扭转期间， 右手松开腔内医疗器械32。当左手要从腔内医疗器械32的一段移动到另一段时，右手抓住腔内医疗器械32不动而让左手移动到另一段，以让腔内医疗器械32如导管继续撤出。
图1为本发明手术机器人装置(未示外壳)的示意图，用来在受术者体内操作腔内医疗器械。为了本发明手术机器人装置的清晰展示，虽然图中省去某些部件未示出，但其仍然是重要的。这包括图1中最右边的受术者和包住整个驱动组件16的无菌屏障(图中仅用短线26表示)。无菌屏障26为一次性的。
如图1所示，本发明手术机器人装置100包括递送模块10和夹持模块12。递送模块10可在轨道18b上朝着或远离受术者线性地移动，尽管受术者未示出，但一般位于图中最右侧较远处。递送模块10包括驱动组件16和操作组件14。驱动组件16可以包括一个或两个驱动器，每个驱动器由术者(未示出)控制，优选地通过遥控方式控制。在由驱动组件16非接触地隔空控制下，操作组件14操作腔内医疗器械32递送进入受术者体内或从受术者体内撤出，即通过沿腔内医疗器械32施加线性力和/或在腔内医疗器械32上施加扭力让其绕轴旋转来实现。
夹持模块12线性不动地固定于受术者和递送模块10之间。夹持模块12相对于受术者和轨道18b是固定不动的。夹持模块12用来夹持或松开穿过的腔内医疗器械32。夹持模块12包括夹具和控制器。夹具用于夹持或者松开穿过夹具的腔内医疗器械。控制器用于非接触地隔空控制夹具夹持或者松开腔内医疗器械。本实施例中，控制器为第二电磁铁50，夹具为由第二电磁铁50非接触地隔空控制的磁性夹具。同时，夹持模块12可以在腔内医疗器械32的递送路径上支撑腔内医疗器械32，防止其迂曲。在替代实施例中，夹持模块12包括用于支撑腔内医疗器械32的支撑件。
图2是本发明手术机器人装置的左侧透视图，安装了外壳。图3是本发明手术机器人装置的右侧透视图，安装了外壳。图4是本发明手术机器人装置的A-A剖视图。图5是本发明手术机器人装置的正视图，安装了外壳。
参考图1、4和5，将无菌侧与非无菌侧隔离开的无菌屏障26以无菌隐藏或隔挡的方式将驱动组件16和第二电磁铁50包围住。这是为了防止任何东西从 非无菌侧越过到无菌侧，如图1所示。此外，还要防止来自无菌侧的操作组件14或夹头70的体液或污物进入非无菌侧。可以看出，驱动组件16和第二电磁铁50在非无菌侧，操作组件14和夹头70在无菌侧，用于操作接触患者或受术者的腔内医疗器械32。操作组件外壳15和夹具外壳58进入临床手术时已预先消毒并保持无菌。底座外壳66位于非无菌侧并位于无菌屏障26下方。操作组件外壳15可线性移动并可方便拆卸地安装于底座外壳66上，夹具外壳58固定地安装于底座外壳66上。具体地，操作组件外壳15与底座外壳66之间可通过燕尾槽和滑块等的配合机构来可线性移动地安装在一起。让承载驱动组件16的平台20沿着轨道18b在后端轨道立座18a和前端轨道立座18c之间移动时，而通过如磁性元件等连接结构将操作组件14和驱动组件16连接在一起，让操作组件14随着驱动组件16同步移动。优选地，需要为每个患者或受术者更换一次性无菌屏障26。
如图1
Figure PCTCN2022105332-appb-000001
5所示，操作组件14置于操作组件外壳15内，最好在操作组件外壳15的顶部设一个支撑件38。驱动组件16容纳在底座外壳66内。轨道18b设于底座外壳66内，并由设于底座外壳66内的后端轨道立座18a和前端轨道立座18c支撑固定，让承载驱动组件16的平台20在后端轨道立座18a和前端轨道立座18c之间线性移动。一个或一对轨道电机28驱动诸如丝杆螺母、齿轮连杆、齿轮齿条或同步带皮带轮等传送系统，让平台20在后端轨道立座18a和前端轨道立座18c之间往复运动。为了运行平稳，可以增加滑轨滑块机构来进行导向和平衡。优选地，操作组件外壳15为一次性的，底座外壳66为非一次性的。
本实施例中，操作组件14和驱动组件16之间的连接结构为永磁铁。即在操作组件14和驱动组件16分别设置永磁铁而互相吸合固定连接。具体地，操作组件14的永磁铁固定于操作组件外壳15上，驱动组件16的永磁铁靠近操作组件14的永磁铁设置。当操作组件14通过操作组件外壳15安放于底座外壳66上时，操作组件14和驱动组件16的永磁铁互相吸合而固定在一起。当驱动组件16移动时，即可通过磁力带动底座外壳66外的操作组件14及操作组件外壳15一起同向移动。从而在完全封闭的情况下实现非接触式动力传动。无需在底座外壳66和操作组件外壳15上设计复杂的结构来安装传动机构，让操作组件 14和驱动组件16之间通过接触式传动机构来传动，完全避免了其直接或间接接触传动时体液或污物的侵入或渗漏。同时，操作组件14和驱动组件16上的永磁铁也可对操作组件外壳15和底座外壳66起到互相定位作用，达到安装效果。当然在替代实施例中，操作组件14和驱动组件16之间的连接结构也可以为电磁铁。或者，操作组件14和驱动组件16之间的连接结构也可以是连接于驱动组件16的联动件，其伸出底座外壳66而延伸固定于操作组件外壳15上(即变劣方案)。
参考图1和9a，第二电磁铁50也容纳于底座外壳66内，位于可重复使用的非无菌侧。夹持模块12的上部包括夹具56，其容纳于夹具外壳58内。夹具外壳58包括用于安装缸体54a的顶板52。优选地，夹具外壳58为一次性的。
对比而言，当前手术操作中没有本发明手术机器人装置100时，术者必须站在受术者附近，代替本发明手术机器人装置100来操作腔内医疗器械32递送进入受术者体内或从受术者体内撤出。由于许多临床手术可能需要大量使用基于X射线的荧光检查仪，因此需要防止长期暴露于辐射下。但是限制暴露时间会导致需要更多人轮班，不仅增加手术成本，同时使术者处于不利的工作环境中。
因此，本发明手术机器人装置100在于以简单有效的方式模拟和实现上述两只手的手术过程。重要的是，本发明手术机器人装置100将无菌侧的部件与非无菌侧的完全隔离开。这样不仅实现了腔内医疗器械32的非接触式隔空控制，而且防止一些昂贵的部件被污染，允许它们在一个临床手术中用过后还可以在另一个临床手术中重复使用。此外，本发明手术机器人装置100可以代替人类术者，让术者在远程工作时不仅没有辐射暴露问题，而且延长了单个术者的操作时长。还有，这可能会消除对某种手术有特别专业知识要求的术者的地理限制，实现远程医疗。
综上所述，本发明手术机器人装置100的递送模块10可以执行以下功能：1)夹持腔内医疗器械32并递送或拉拽腔内医疗器械32；2)夹持并旋转腔内医疗器械32。
参考图1
Figure PCTCN2022105332-appb-000002
5，递送模块10包括操作组件14和驱动组件16。本实施例中， 在由驱动组件16非接触地隔空控制下，操作组件14操作腔内医疗器械32递送进入受术者体内或从受术者体内撤出。为了实现这一点，所述驱动组件16包括至少一磁驱动轮，所述操作组件14包括至少一对应所述磁驱动轮的磁感应轮，所述磁驱动轮非接触地隔空控制所述磁感应轮转动。本实施例中，操作组件14具有磁性旋转轮36a和磁性夹持轮36b，磁性旋转轮36a和磁性夹持轮36b分别由轴承座34c和轴承座34a支撑，轴承座34c和轴承座34a固定于支撑件38上。
本实施例中，驱动组件16包括两个驱动器，其中一个是第一电磁铁22，另一个是由驱动电机24驱动的磁驱动轮30，每个驱动器由术者(未示出)控制，优选地通过遥控方式控制。磁性旋转轮36a和磁性夹持轮36b在磁驱动轮30和第一电磁铁22非接触地隔空控制下而实现磁传动，以操作腔内医疗器械32递送进入受术者体内或从受术者体内撤出。
参考图1和2，磁性旋转轮36a、磁性夹持轮36b和磁驱动轮30上均固定若干永磁体60。本实施例中，永磁体60为呈圆饼的永磁块，其嵌设于磁性旋转轮36a、磁性夹持轮36b和磁驱动轮30的外圆周面上。相邻两个永磁块的极性相反，且为偶数个。因此，磁性旋转轮36a、磁性夹持轮36b和磁驱动轮30也称为永磁性旋转轮36a、永磁性夹持轮36b和永磁性驱动轮30。第一电磁铁22由术者(未示出)控制。利用第一电磁铁22的磁场与磁性夹持轮36b上的永磁体60之间的磁力，来实现第一电磁铁22对磁性夹持轮36b的控制，而让磁性夹持轮36b保持不动，无需第一电磁铁22与磁性夹持轮36b直接或间接接触。类似地，利用磁性旋转轮36a和/或磁性夹持轮36b与磁驱动轮30上相互配对永磁体60之间的磁力，来实现磁驱动轮30对磁性旋转轮36a和/或磁性夹持轮36b的控制，而让磁性旋转轮36a和磁性夹持轮36b同步转动，是在完全封闭的情况下实现非接触式动力传动。无需在底座外壳66和操作组件外壳15上设计复杂的结构来安装传动机构，让磁驱动轮30与磁性旋转轮36a和/或磁性夹持轮36b通过传动机构来进行接触式传动，完全避免了其直接或间接接触传动时体液或污物的侵入或渗漏。在替代实施例中，永磁体60为套设于磁性旋转轮36a、磁性夹持轮36b和磁驱动轮30的外圆周面的永磁环，每一永磁环沿圆周方向具有偶数个永磁段，相邻两个永磁段的极性相反。
现在参考图6、6a、6b、7和8。图6为图5中操作组件14的俯视图。图6a为图6中沿B-B的剖视图，其中筒夹处于打开状态。图6b为图6中沿B-B的剖视图，其中筒夹处于闭合状态。图7是本发明操作组件14(未示外壳)的示意图，示意了其上筒夹由打开至闭合的操作。图8是本发明操作组件14(未示外壳)的示意图，示意了其上筒夹的转动操作。
参考图6、6a、6b、7和8，操作组件14还包括分别凸设于磁性旋转轮36a和磁性夹持轮36b外侧面的筒形轴承62a、62b，腔内医疗器械32穿设于筒形轴承62内。筒形轴承62支撑于轴承座34a、34b和34c内。操作组件14还包括位于磁性旋转轮36a和磁性夹持轮36b之间并由轴承座34b支撑的筒夹40。
筒夹40包括夹嘴42、套筒48、与套筒48配合的套轴46和弹性镊子44。套筒48凸设于磁性夹持轮36b的内侧面，即筒形轴承62b和套筒48分别设于磁性夹持轮36b的两相对侧面。套筒48内壁形成内螺纹48b。夹嘴42开设于磁性夹持轮36b中心并与两侧面的筒形轴承62b和套筒48相连通。夹嘴42从前(右)到后(左)逐渐变窄。套轴46凸设于磁性旋转轮36a的内侧面，即筒形轴承62a和套轴46分别设于磁性旋转轮36a的两相对侧面。套轴46同轴地定位在套筒48内，具有与内螺纹48b旋合的外螺纹48a，并可螺旋向夹嘴42。套轴46进一步延伸形成可伸入夹嘴42的弹性镊子44。弹性镊子44具有至少两个夹片。腔内医疗器械32同时穿设于套轴46、弹性镊子44和夹嘴42。本实施例中，在磁驱动轮30的控制下，让磁性旋转轮36a顺时针转动，而磁性夹持轮36b固定不转动，套轴46螺旋进入套筒48，使弹性镊子44的夹片进一步深入逐渐变窄的夹嘴42中而紧贴在腔内医疗器械32上，直到弹性镊子44的夹片牢固地夹持腔内医疗器械32，从而让筒夹40处于闭合状态，如图6b所示。反之亦然，由磁驱动轮30控制，让磁性旋转轮36a逆时针转动，同样磁性夹持轮36b固定不转动，套轴46旋转离开套筒48，带动弹性镊子44的夹片离开夹嘴42而进入套筒48的较宽区域，释放腔内医疗器械32，由此筒夹40处于打开状态，如图6a所示。本实施例中，套轴46和套筒48通过鲁尔接头结构锁固在一起。
参考图7和8，并继续参考图1和6b，应当注意的是，当要夹持腔内医疗器械32或者要筒夹40从打开状态设置为闭合状态时，通过将第一电磁铁22切 换到接合状态而让磁性夹持轮36b保持静止。这样，当磁性旋转轮36a顺时针转动时，磁性夹持轮36b不会随着磁性旋转轮36a转动，而让套轴46螺旋进入套筒48直到筒夹40处于闭合状态。当要施加扭矩或转动腔内医疗器械32时，弹性镊子44的夹片夹持腔内医疗器械32或筒夹40处于闭合状态，通过将第一电磁铁22切换到断开状态而释放磁性夹持轮36b。从而，可以通过沿任一方向施加扭矩来旋转磁性旋转轮36a，同时磁性夹持轮36b跟随磁性旋转轮36a在相应方向上同步旋转。在替代实施例中，可以同时向磁性旋转轮36a和磁性夹持轮36b施加扭矩而让其同步旋转。
因此，操作组件14可以简单的方式实现腔内医疗器械32的夹持或释放、递送或拉拽以及扭转/旋转。
现在参考图9、9a和9b。图9为本发明夹持模块12的俯视图。图9a为图9中沿C-C的剖视图，其中夹持模块12处于打开状态。图9b为图9中沿C-C的剖视图，其中夹持模块12处于闭合状态。
如图9、9a和9b所示，本实施例中，夹持模块12包括第二电磁铁50和夹具56。第二电磁铁50位于非无菌侧并容纳于底座外壳66内。夹具56位于无菌侧并容纳于夹具外壳58内。夹具56包括缸体54a、可滑动地安装于缸体54a内的夹头70和固定于夹头70的磁铁54b。缸体54a通过固定件72安装于顶板52。
让第二电磁铁50切换到接合状态或断开状态，而利用第二电磁铁50的电磁力吸住或释放磁铁54b来操作夹持模块12。从而，夹头70在缸体54a中滑动以靠近并夹持腔内医疗器械32或离开腔内医疗器械32而释放腔内医疗器械32。参见图9a和9b，其中夹头70分别处于打开状态和闭合状态，以分别释放或夹持穿过夹头70的腔内医疗器械32。
现在参考图10和11。图10为图4的另一示意图，其中加载了腔内医疗器械32并由操作组件14夹紧递送进受术者体内。图11为图4的再一示意图，其中加载了腔内医疗器械32并由操作组件14夹紧撤退出受术者体内。
参考图10和11，并继续参考图6b，当筒夹40处于闭合状态时，筒夹40夹持住腔内医疗器械32，利用平台20沿着轨道18b从后端轨道立座18a移动到前端轨道立座18c，通过连接结构将操作组件14和驱动组件16连接在一起，则 平台20上的驱动组件16带动操作组件14同步移动而让整个操作组件14向受术者移动，腔内医疗器械32逐渐递送进入受术者体内，其递送距离大约为后端轨道立座18a与前端轨道立座18c之间的距离。
在平台20到达前端轨道立座18c之后，腔内医疗器械32的一段已经递送进入受术者体内，操作组件14靠近夹持模块12。这时，与当前的人工手术类似，通过接合第二电磁铁50，夹持模块12关闭磁铁54b，从而夹持并保持腔内医疗器械32固定不动。同时，通过第一电磁铁22和磁驱动轮30的非接触地隔空控制，操作组件14让筒夹40处于打开状态，松开腔内医疗器械32。随后，利用平台20沿着轨道18b从前端轨道立座18c移动到后端轨道立座18a，通过连接结构将操作组件14和驱动组件16连接在一起，则平台20上的驱动组件16带动操作组件14同步移动而让整个操作组件14远离受术者。在平台20回到后端轨道立座18a之后，本发明手术机器人装置100准备进行另一个往复运动，以将腔内医疗器械32的下一段递送进入受术者体内。而后，夹具56处于打开状态，也即松开腔内医疗器械32，由筒夹40再次夹持腔内医疗器械32。
操作组件14和夹持模块12之间的类似协调动作适用于从受术者体内撤出腔内医疗器械32的过程。即，筒夹40在闭合期间，可以递送、拉拽或扭转/旋转腔内医疗器械32，而夹持模块12处于打开状态(即磁铁54b被释放)而释放腔内医疗器械32。在操作组件14从腔内医疗器械32的一段转换到另一段期间，筒夹40处于打开状态而释放腔内医疗器械32，夹持模块12处于闭合状态(即磁铁54b被吸住)，夹持住腔内医疗器械32，让腔内医疗器械32在操作组件14转换期间停止移动，以防影响受术者。
在替代实施例中，虽然夹持模块12的夹具56夹持腔内医疗器械32，但腔内医疗器械32相对夹具56可以运动。即轨道18b足够长，在递送模块10不需要在轨道18b上往复移动的情况下，递送模块10带动腔内医疗器械32一直单向递送或拉拽以及扭转/旋转并相对夹具56运动，夹具56仅支撑腔内医疗器械32而让其绷直、不弯曲。
现在参考图12和13。图12为图4的再一示意图，其中递送模块10处于触发传感器的初始位置。图13为图4的再一示意图，其中递送模块10处于触发 传感器的终点位置。
参照图12和13，本实施例中，本发明手术机器人装置100各部件的操作和运动顺序完全或部分地是由自动控制装置通过有线或无线控制方式控制的。因此本发明手术机器人装置100进一步包括方便自动控制的传感器。
本实施例中，本发明手术机器人装置100还包括后端位置传感器80a和前端位置传感器80b，分别用于感应平台20是否到达后端轨道立座18a或前端轨道立座18c。本实施例中，后端位置传感器80a和前端位置传感器80b分别安装于后端轨道立座18a和前端轨道立座18c。后端位置传感器80a和前端位置传感器80b可以是基于被动红外(PIR)、超声波、微波或断层扫描检测之类的运动传感器，以测量平台20到后端轨道立座18a和前端轨道立座18c的距离，获得腔内医疗器械32进入受术者多长的信息。后端位置传感器80a和前端位置传感器80b可以是诸如压力传感器或光传感器之类的触摸传感器，当平台20与后端轨道立座18a或前端轨道立座18c接触时进行测量。
如图12所示，当后端位置传感器80a感应到平台20到达后端轨道立座18a时，本发明手术机器人装置100准备进行另一个往复运动，以将腔内医疗器械32的下一段递送进入受术者体内。此时，第一电磁铁22和磁驱动轮30非接触地隔空控制磁性旋转轮36a和磁性夹持轮36b，让筒夹40处于闭合状态，夹持住腔内医疗器械32。控制平台20驱动递送模块10朝向前端轨道立座18c移动。利用平台20沿着轨道18b从后端轨道立座18a移动到前端轨道立座18c，而让整个递送模块10向受术者移动，腔内医疗器械32逐渐递送进入受术者体内，其递送距离大约为后端轨道立座18a与前端轨道立座18c之间的距离。
如图13所示，当前端位置传感器80b感应到平台20到达前端轨道立座18c时，腔内医疗器械32的一段已经递送进入受术者体内，然后第二电磁铁50拉动磁铁54b而吸住磁铁54b，从而夹持并保持腔内医疗器械32固定不动。同时，控制磁驱动轮30，使筒夹40处于打开状态，释放腔内医疗器械32。随后，平台20移动，让递送模块10沿着轨道18b从前端轨道立座18c回到后端轨道立座18a，从而远离受术者。
本发明手术机器人装置100还可以包括能够实现自动控制的其他传感器， 以控制操作组件14和夹持模块12之间的互相协调动作。例如，在腔内医疗器械32撤出受术者体内的过程中。也即，筒夹40在闭合期间，可以递送、拉拽或扭转/旋转腔内医疗器械32，而夹持模块12处于打开状态(即磁铁54b被释放)而释放腔内医疗器械32；在操作组件14从腔内医疗器械32的一段转换到另一段期间，筒夹40处于打开状态而释放腔内医疗器械32，夹持模块12处于闭合状态(即磁铁54b被吸住)，夹持住腔内医疗器械32，让腔内医疗器械32在操作组件14转换期间停止移动，以防影响受术者。
图14是图5中三个本发明手术机器人装置100的立体组合图，示出了具有多对递送模块和夹持模块的实施例，用于在受术者上操作多个腔内医疗器械。
鉴于本发明手术机器人装置100的简单结构，临床上有足够的空间在手术床旁配置多台类似手术机器人装置，例如手术机器人装置200和300，如图14所示。手术机器人装置200和300的结构可以与手术机器人装置100相同或相似。这样，可以在同一台手术中将多个腔内医疗器械(例如携带各种外科器械、各种植介入器械、各种诊断传感器、各种药物等的导管)递送进入受术者体内或从受术者体内撤出。
尽管图14中示意了三个手术机器人装置，但并不能因此而理解为对本发明的保护范围的限制。在替代实施例中，在同一台手术中可以使用任意多个本发明手术机器人装置。
可以理解，本发明手术机器人装置100的操作也可以利用人工和自动化的任意组合方式来完成。例如，磁性夹持轮36b和磁性旋转轮36a的操作可以由手持遥控器的人直接远程完成，不需要磁驱动轮30和第一电磁铁22，而平台20的移动可以自动完成。又如，可以只由递送模块10完成对腔内医疗器械32的递送或拉拽以及扭转/旋转，而无需夹持模块12。这时，为了支撑的需要，可在底座外壳66上固定一夹子，用于夹持并支撑腔内医疗器械32，不致使其迂曲，同时当递送模块10递送或拉拽以及扭转/旋转腔内医疗器械32时，夹子不松开但腔内医疗器械32可以相对夹子正常移动及旋转。再如，夹持模块12仅包括两个相对设置的摩擦滚轮，而无第二电磁铁50。这时，轨道18b足够长，让平台20带动递送模块10一直单向递送或拉拽以及扭转/旋转，而无需往返，腔内 医疗器械32夹置于两个摩擦滚轮之间但可自由递送或拉拽以及扭转/旋转。所有这些替代实施例都在本发明的保护范围内。
在替代实施例中，让磁性旋转轮36a顺时针或者逆时针转动而使套轴46旋转进入或离开套筒48可由如磁驱动轮30的另一磁驱动轮(即由另一如驱动电机24的驱动电机驱动)来实现，而本实施例中的磁驱动轮30仅用于驱动磁性旋转轮36a旋转，而磁性夹持轮36b跟随磁性旋转轮36a在相应方向上同步旋转。在其他实施例中，筒夹40由第一、第二两个如磁驱动轮30的磁驱动轮控制，而不是本实施例中的一个磁驱动轮30和一个第一电磁铁22。这时其中第一磁驱动轮非接触地隔空控制磁性夹持轮36b向某一方向转动、第二磁驱动轮非接触地隔空控制磁性旋转轮36a向另一方向转动而筒夹40处于闭合状态，实现腔内医疗器械32的夹持，可以实现快速夹持，提高效率；再让第一、第二磁驱动轮同向同步旋转，从而非接触地隔空控制磁性旋转轮36a和磁性夹持轮36b同向同步旋转而实现传动。当然，让筒夹40处于闭合状态和打开状态，也可以只让一个磁驱动轮来驱动，只是夹持和松开变慢。所有这些替代实施例都在本发明的保护范围内。
另外，人工手术中，根据术者的操作习惯，左右手也可以互换。即术者左手松弛地支撑住腔内医疗器械32，右手(有时是双手)推送、拉拽或扭转/旋转腔内医疗器械32。当右手逐渐靠近左手，术者用左手抓住腔内医疗器械32不动，同时松开右手并进一步向下移动到右侧，以准备将腔内医疗器械32的下一段推送和/或旋转进入受术者体内。类似地，在替代实施例中，受术者也可以位于图1中最左侧较远处。这时，夹持模块12位于递送模块10的左侧并固定于受术者和递送模块10之间。
在替代实施例中，底座外壳66内设有另一轨道8b，并由另一后端轨道立座18a和另一前端轨道立座18c支撑固定，另一轨道8b上设置另一平台20，用来承载夹持模块12的第二电磁铁50。让夹持模块12位于远离受术者的位置，即递送模块10位于夹持模块12和受术者之间。这时，夹具外壳58同操作组件外壳15一样可线性移动并可方便拆卸地安装于底座外壳66上。当操作组件14让筒夹40处于闭合状态、第二电磁铁50让夹具56处于闭合状态时，递送模块10 和夹持模块12同时夹持住腔内医疗器械32，让承载驱动组件16和第二电磁铁50的两个平台20沿着各自轨道18b从后端轨道立座18a移动到前端轨道立座18c，让操作组件14和夹具56一起夹持腔内医疗器械32向受术者移动。在其中一平台20到达前端轨道立座18c之后，腔内医疗器械32的一段已经递送进入受术者体内。这时，停止移动，让筒夹40处于打开状态、夹具56继续处于闭合状态时，平台20带动操作组件14离开前端轨道立座18c而向后端轨道立座18a移动。当移动一定距离时，再让筒夹40和夹具56均处于闭合状态，让承载驱动组件16和第二电磁铁50的两个平台20沿着各自轨道18b向受术者移动，让操作组件14和夹具56一起夹持腔内医疗器械32并递送进入受术者体内。如此往复，将腔内医疗器械32递送到指定位置。优选地，另一轨道18b比轨道18b更长。当需要从受术者体内撤出腔内医疗器械32时，基本反向进行上述操作即可。当然也可以有一些调整。如在该实施例中，在递送模块10和受术者之间还设置另一夹持模块12，但是另一夹持模块12仅包括两个相对设置的摩擦滚轮，而无第二电磁铁50，具体运行参前述相关描述。或者在该两夹持模块12上均设置Y阀固定结构，当需要时，让Y阀由远离受术者的Y阀固定结构拆换到靠近受术者的Y阀固定结构。也可以在远离受术者的夹持模块12上设置快交组件，用于递送快交导管。
此外，可以在底座外壳66内只设置一个轨道8b，两个平台20均设置于同一轨道18b上，并分别由两个不同的电机分别驱动两个平台20移动，而不是用一个或一对轨道电机28驱动，也可以实现上述对腔内医疗器械32的操作。
在替代实施例中，夹持模块12也可由另一递送模块10代替。也即，这时手术机器人装置包括两个递送模块10，两个递送模块10均可在轨道上朝着或远离受术者线性地移动，实现腔内医疗器械32的递送或拉拽以及扭转/旋转。两个递送模块10既可以在同一轨道上移动、也可以在不同的轨道上移动；既可以用同一驱动电机驱动两个递送模块10进行单向或往复递送，也可以分别用不同的驱动电机分别驱动两个递送模块10进行单向或往复递送。
请参考图15a
Figure PCTCN2022105332-appb-000003
图15b，轨道18b为由驱动电机28驱动的丝杆，其上设有相反旋向的两段螺纹，如图中箭头所示。承载两个递送模块10的平台20设置 与螺纹配合的螺母。首先，左边递送模块10的筒夹40处于闭合状态、右边递送模块10的筒夹40处于打开状态，驱动电机28带动丝杆旋转，两个递送模块10相互靠近，让腔内医疗器械32向受术者移动，如图15a所示。当两个递送模块10相向移动到极限时，左边递送模块10的筒夹40处于打开状态、右边递送模块10的筒夹40处于闭合状态，驱动电机28带动丝杆反向旋转，两个递送模块10相互远离，但腔内医疗器械32继续向受术者移动，如图15b所示。从而实现腔内医疗器械32的连续递送。若需要让腔内医疗器械32远离受术者时，进行相反的操作即可。替代实施例中，具有相反旋向的两段螺纹可以分别设置在两个不同的丝杆上，并由两个驱动电机分别驱动。另外，也可以让靠近受术者的递送模块10进行往复运动，而远离受术者的递送模块10进行单向运动，从而实现腔内医疗器械32的递送。腔内医疗器械32撤出受术者体内时，进行相反的操作即可。
请参考图16、图17，示意了分别用齿轮连杆、齿轮齿条传动机构来驱动两个递送模块10进行往复递送的过程，实现腔内医疗器械的连续递送。尽管图中两个递送模块10的驱动电机为一个，但在替代实施例中，两个递送模块10也可以分别用不同的驱动电机驱动。另外，也可以让靠近受术者的递送模块10进行往复运动，而远离受术者的递送模块10进行单向运动，从而实现腔内医疗器械32的递送。腔内医疗器械32撤出受术者体内时，进行相反的操作即可。
对于驱动组件16与操作组件14之间的定位、位移驱动和转动驱动，以及第二电磁铁50与夹具56之间的固定，除了以上描述的永磁/电磁驱动而实现非接触式动力传动外，还可以通过电磁感应、电场耦合、直流谐振等其他非接触驱动方式来实现。需要注意的是，本发明中的隔空控制/传动是指空间上不接触而实现控制/传动，而不是指通过空气介质进行控制/传动。
以下仅以驱动组件16与操作组件14之间的电磁感应非接触地隔空控制/传动为例进行说明，但其同样适用于第二电磁铁50与夹具56之间的非接触地隔空控制/传动。如图18所示，在电磁感应非接触地隔空控制/传动中，驱动组件16包括定子绕组92，操作组件14对应地包括铁磁转子94，当给定子绕组92通电时，其产生变化磁场并作用于铁磁转子94，即形成磁电动力旋转扭矩，让铁 磁转子94带动腔内医疗器械32转动。
对于直流谐振非接触地隔空控制/传动方式，也许可以借鉴谐振直流电机中定子、转子的非接触驱动原理。
由上可知，本发明的非接触地隔空控制/传动是通过非接触力即电场力、磁场力等各种场力来实现驱动的，不需要介质，真空中也可以。也即利用任何场对放入其中的物质的作用力来实现“非接触地隔空控制/传动”的，都属于发明的保护范围。
本发明手术机器人装置100在实现非接触地隔空控制/传动的同时，让机械驱动齿轮及电机等昂贵部件置于非无菌侧，处于完全封闭的空间内，实现了无菌隔离。无需在底座外壳66和操作组件外壳15上设计复杂的结构来安装传动机构，让磁驱动轮30与磁性旋转轮36a和/或磁性夹持轮36b通过传动机构来进行接触式传动。完全避免了其直接或间接接触传动时体液或污物的侵入或渗漏，防止了机械驱动齿轮及电机等昂贵部件的污染，对其进行了最大限度的防护。
以上所述实施例仅表达了发明的一种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离发明构思的前提下，还可以做出若干变形和改进或变劣，如递送模块10及其变形设计、夹持模块12及其变形设计甚至快交组件、Y阀固定结构等可以设置任意多个或形成任何组合，使多个腔内医疗器械协同移动和/或转动，又如同步移动、同步转动/旋转也可以不同步，只要是受控运动即可，这些都属于发明的保护范围。因此，发明专利的保护范围以权利要求为准。

Claims (40)

  1. 一种手术机器人装置，其特征在于，所述手术机器人装置包括可朝向或远离受术者移动的递送模块，所述递送模块包括驱动组件及操作组件，所述操作组件和驱动组件分别位于隔离开的无菌侧和非无菌侧，所述操作组件在所述驱动组件非接触地隔空控制下移动和/或转动，让所述操作组件带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
  2. 如权利要求1所述的一种手术机器人装置，其特征在于：所述驱动组件通过磁驱动方式来控制所述操作组件移动和/或转动。
  3. 如权利要求1所述的一种手术机器人装置，其特征在于：所述驱动组件通过电磁感应驱动方式来控制所述操作组件移动和/或转动。
  4. 如权利要求1所述的一种手术机器人装置，其特征在于：所述驱动组件通过电场耦合驱动方式来控制所述操作组件移动和/或转动。
  5. 如权利要求1所述的一种手术机器人装置，其特征在于：所述驱动组件通过直流谐振驱动方式来控制所述操作组件移动和/或转动。
  6. 如权利要求1所述的一种手术机器人装置，其特征在于：所述驱动组件包括至少一磁驱动轮，所述操作组件包括至少一对应所述磁驱动轮的磁感应轮，所述磁驱动轮非接触地隔空控制所述磁感应轮。
  7. 如权利要求1所述的一种手术机器人装置，其特征在于：所述操作组件包括永磁性旋转轮和永磁性夹持轮，所述驱动组件包括永磁性驱动轮和第一电磁铁，所述第一电磁铁非接触地隔空控制所述永磁性夹持轮，所述永磁性驱动轮非接触地隔空控制所述永磁性旋转轮。
  8. 如权利要求7所述的一种手术机器人装置，其特征在于：所述手术机器人装置还包括设于所述永磁性旋转轮和永磁性夹持轮之间的筒夹，所述筒夹用于穿设腔内医疗器械，借助所述永磁性旋转轮和永磁性夹持轮的相对运动，让筒夹处于闭合状态而夹持腔内医疗器械或者让筒夹处于打开状态而松开腔内医疗器械。
  9. 如权利要求8所述的一种手术机器人装置，其特征在于：所述筒夹包括套筒和同轴地定位在套筒内的套轴，所述套筒内于一端设有内螺纹、于另一相对端形成夹嘴，所述套轴上设有与内螺纹配合的外螺纹和对应所述夹嘴的弹性镊 子，所述套轴向所述套筒的另一端旋转进入所述套筒，将所述镊子推送进入所述夹嘴，让所述镊子弹性收缩而夹持住腔内医疗器械，或者所述套轴向远离所述套筒的另一端旋转撤出所述套筒，将所述镊子拉拽撤出所述夹嘴，让所述镊子恢复扩张而松开腔内医疗器械。
  10. 如权利要求9所述的一种手术机器人装置，其特征在于：所述套筒凸设于所述永磁性夹持轮和永磁性旋转轮其中之一，所述套轴凸设于所述永磁性夹持轮和永磁性旋转轮其中之另一。
  11. 如权利要求9所述的一种手术机器人装置，其特征在于：所述镊子包括若干夹片。
  12. 如权利要求1所述的一种手术机器人装置，其特征在于：所述操作组件包括永磁性旋转轮、永磁性夹持轮和筒夹，所述永磁性夹持轮固定不动而所述永磁性旋转轮相对所述永磁性夹持轮旋转时，让所述筒夹分别处于闭合状态和打开状态而夹持或松开腔内医疗器械。
  13. 如权利要求12所述的一种手术机器人装置，其特征在于：当所述筒夹处于闭合状态而夹持腔内医疗器械、所述永磁性夹持轮被释放时，所述永磁性旋转轮和永磁性夹持轮同步旋转而带动腔内医疗器械转动。
  14. 如权利要求8或12所述的一种手术机器人装置，其特征在于：所述手术机器人装置还包括轨道，所述驱动组件沿所述轨道移动时非接触地隔空控制所述操作组件移动。
  15. 如权利要求14所述的一种手术机器人装置，其特征在于：所述驱动组件和操作组件分别设有互相吸合而定位的磁性元件。
  16. 如权利要求15所述的一种手术机器人装置，其特征在于：当所述筒夹处于闭合状态而夹持腔内医疗器械、所述永磁性夹持轮被释放时，让所述驱动组件沿所述轨道移动，所述驱动组件的磁性元件吸住所述操作组件的磁性元件而让所述操作组件同步移动，使所述递送模块沿所述轨道向受术者递送或者远离受术者撤出腔内医疗器械。
  17. 如权利要求8或12所述的一种手术机器人装置，其特征在于：所述操作组件还包括分别凸设于永磁性旋转轮和永磁性夹持轮的两筒形轴承，两筒形轴 承分别支撑于两轴承座上，所述筒夹支撑于位于所述两轴承座之间的另一轴承座上。
  18. 如权利要求17所述的一种手术机器人装置，其特征在于：所述驱动组件置于位于非无菌侧的底座外壳内，所述操作组件置于位于无菌侧的操作组件外壳内，所述操作组件外壳可线性移动并可方便拆卸地安装于底座外壳上。
  19. 如权利要求18所述的一种手术机器人装置，其特征在于：所述无菌侧和非无菌侧之间设置有无菌屏障而隔离开，所述底座外壳位于无菌屏障下方。
  20. 如权利要求1所述的一种手术机器人装置，其特征在于：所述操作组件包括永磁性旋转轮和永磁性夹持轮，所述驱动组件包括第一永磁性驱动轮和第二永磁性驱动轮，所述第一永磁性驱动轮和第二永磁性驱动轮分别非接触地隔空控制所述永磁性夹持轮和永磁性旋转轮。
  21. 如权利要求1所述的一种手术机器人装置，其特征在于：所述手术机器人装置还包括夹持模块，所述夹持模块包括位于无菌侧、用于支撑腔内医疗器械的支撑件。
  22. 如权利要求1所述的一种手术机器人装置，其特征在于：所述手术机器人装置还包括夹持模块，所述夹持模块还包括位于无菌侧的夹具和位于非无菌侧的控制器，所述控制器非接触地隔空控制所述夹具夹持或者松开腔内医疗器械。
  23. 如权利要求22所述的一种手术机器人装置，其特征在于：所述夹持模块位于递送模块和受术者之间固定不动，当所述夹持模块松开腔内医疗器械时，所述操作组件夹持并操控腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
  24. 如权利要求22所述的一种手术机器人装置，其特征在于：所述夹持模块位于递送模块和受术者之间固定不动，当所述夹持模块夹持住腔内医疗器械时，所述操作组件松开腔内医疗器械而向受术者移动或者远离受术者。
  25. 如权利要求22所述的一种手术机器人装置，其特征在于：所述控制器通过磁控制方式控制所述夹具夹持或者松开。
  26. 如权利要求25所述的一种手术机器人装置，其特征在于：所述控制器为 第二电磁铁。
  27. 如权利要求26所述的一种手术机器人装置，其特征在于：所述夹具包括缸体、可滑动地安装于缸体内的夹头和固定于夹头的磁铁，利用第二电磁铁非接触地隔空吸住或释放所述磁铁，让所述夹头在缸体中滑动以靠近而夹持腔内医疗器械或离开腔内医疗器械而释放腔内医疗器械。
  28. 如权利要求22所述的一种手术机器人装置，其特征在于：所述递送模块位于夹持模块和受术者之间，所述夹持模块和递送模块一起带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出一定距离、所述递送模块向靠近所述夹持模块的方向移动一定距离后，所述夹持模块和递送模块再次一起带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
  29. 如权利要求1所述的一种手术机器人装置，其特征在于：所述手术机器人装置还包括位于递送模块和受术者之间的夹持模块，所述夹持模块包括两个相对夹持腔内医疗器械的摩擦滚轮，当所述操作组件夹持并操控腔内医疗器械递送进入受术者体内或者从受术者体内撤出，腔内医疗器械相对所述两摩擦滚轮运动。
  30. 如权利要求1所述的一种手术机器人装置，其特征在于：所述手术机器人装置还包括至少两个位置传感器，用于感应所述递送模块到达了远端极限位置或者近端极限位置。
  31. 一种手术机器人装置的操作方法，其特征在于，所述手术机器人装置包括递送模块，所述递送模块包括驱动组件及操作组件，所述操作方法包括：
    让所述操作组件位于无菌侧，所述驱动组件位于与无菌侧隔离开的非无菌侧。
    使所述操作组件在所述驱动组件非接触地隔空控制下移动和/或转动，让所述操作组件带着腔内医疗器械递送进入受术者体内或者从受术者体内撤出。
  32. 如权利要求31所述的一种手术机器人装置的操作方法，其特征在于：所述驱动组件通过磁驱动方式来控制所述操作组件移动和/或转动。
  33. 如权利要求31所述的一种手术机器人装置的操作方法，其特征在于：所述驱动组件通过电磁感应驱动方式来控制所述操作组件移动和/或转动。
  34. 如权利要求31所述的一种手术机器人装置的操作方法，其特征在于：所述驱动组件通过电场耦合驱动方式来控制所述操作组件移动和/或转动。
  35. 如权利要求31所述的一种手术机器人装置的操作方法，其特征在于：所述驱动组件通过直流谐振驱动方式来控制所述操作组件移动和/或转动。
  36. 如权利要求31所述的一种手术机器人装置的操作方法，其特征在于：所述驱动组件包括至少一磁驱动轮，所述操作组件包括至少一对应所述磁驱动轮的磁感应轮，所述磁驱动轮非接触地隔空控制所述磁感应轮。
  37. 如权利要求31所述的一种手术机器人装置的操作方法，其特征在于：所述手术机器人装置还包括轨道，所述驱动组件沿所述轨道移动时非接触地控制所述操作组件移动。
  38. 如权利要求37所述的一种手术机器人装置的操作方法，其特征在于：所述驱动组件和操作组件分别设有互相吸合而定位的磁性元件。
  39. 如权利要求31所述的一种手术机器人装置的操作方法，其特征在于：所述手术机器人装置还包括夹持模块，所述夹持模块包括位于无菌侧的夹具和位于非无菌侧的控制器，所述夹具受所述控制器非接触地隔空控制而夹持或者松开腔内医疗器械。
  40. 如权利要求39所述的一种手术机器人装置的操作方法，其特征在于：让所述夹持模块位于递送模块和受术者之间固定不动，让所述夹持模块夹持腔内医疗器械不动而所述操作组件松开腔内医疗器械时，所述递送模块向受术者移动或者远离受术者。
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