Multi-degree-of-freedom surgical robot

Abstract

The invention discloses a multi-degree-of-freedom surgical robot. The multi-degree-of-freedom surgical robot comprises a lower platform and an upper platform, the four groups of surgical mechanical arms are movably connected with the upper platform; the upper platform is movably connected with the lower platform through an upper platform lifting mechanism, and the upper platform is driven by the upper platform lifting mechanism to ascend and descend so as to drive the surgical mechanical arm to ascend and descend; a telecentric end minimally invasive surgical instrument is integrated at the upper end of the surgical mechanical arm, and the spatial position of the telecentric end minimally invasive surgical instrument is adjusted through the surgical mechanical arm so as to meet different position requirements. The multi-degree-of-freedom surgical robot has seven degrees of freedom, surgical operation can be conducted according to different human body sizes and different types of operations, the overall structure is novel, and operation is convenient and fast.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive surgical robots, and in particular to a multi-degree-of-freedom surgical robot, and more particularly to a multi-degree-of-freedom surgical robot that can be designed to perform surgical operations according to different human body sizes and different types of surgeries. Background Art

[0002] The origin of minimally invasive surgical robots can be traced back to the 1980s, when industrial robotics technology began to be introduced into the medical field. With the advancement of science and technology, especially the rapid development of robotics, intelligent control, sensing and information technology, minimally invasive surgical robots have developed rapidly. Today, minimally invasive surgical robots have become an important tool in the medical field. Minimally invasive surgical robots have high-precision sensors and advanced motion control systems, which can convert doctors' surgical operations into more precise and stable movements. Compared with traditional surgical methods, surgical robots have higher operating accuracy, which can reduce the risk of errors during surgery and ensure the safety and reliability of surgery; minimally invasive surgical robots can perform high-precision minimally invasive surgeries with smaller incisions and lower tissue damage than traditional surgeries. This helps reduce patients' pain and recovery time, improves patients' quality of life, provides effective medical services for patients, and reduces the workload of doctors.

[0003] The single degree of freedom of minimally invasive surgical robots has always been a difficult problem to overcome. The degree of freedom of a surgical robot determines the range and complexity of motion it can perform. When the degree of freedom is too small, the robot may not be able to reach certain positions in the surgical space, thus limiting the scope of the operation; too little freedom may lead to inefficiency during the operation, because the doctor needs to constantly adjust the position and angle of the robot to adapt to different surgical needs. This will not only increase the complexity and time cost of the operation, but may also have an adverse effect on the patient's recovery and surgical results; limited degrees of freedom may reduce the precision and accuracy of the surgical robot. When the robot lacks sufficient flexibility when performing delicate operations, errors or deviations may occur. This is especially important for minimally invasive surgery that requires high-precision positioning and operation, because any small error may have serious consequences for the patient; surgical robots with too little freedom may find it difficult to adapt to different surgical environments and needs. With the continuous advancement of medical technology and the continuous innovation of surgical methods, the requirements for surgical robots are getting higher and higher.

[0004] Existing technology:

[0005] Prior art 1, a Chinese invention patent application with application number: 2019101746905 and titled "A Minimally Invasive Abdominal Surgery Robot" discloses a surgical robot, which includes a frame, a first support frame, a second support frame, a rotating shaft, a rotating motor, a rotating base plate, a transmission mechanism and a tool. The first support frame is arranged on the left part of the frame, and the second support frame is arranged on the right part of the frame; a plurality of bearing seats are respectively arranged on the first support frame and the second support frame, the left part of the rotating shaft is arranged on each bearing seat of the first support frame, and the right part of the rotating shaft is arranged on the second support frame. On each bearing seat; one end of the rotating shaft is connected to a rotating motor; the left front side of the rotating base plate is rotatably connected to the left part of the rotating shaft through a first rotating sleeve; the right front side of the rotating base plate is rotatably connected to the right part of the rotating shaft through a second rotating sleeve; the transmission mechanism is arranged on the rear side of the rotating base plate; the transmission mechanism includes a first hinge rod, a second hinge rod, a third hinge rod, a fourth hinge rod, a fifth hinge rod, a sixth hinge rod, a seventh hinge rod, an eighth hinge rod, a ninth hinge rod, and a tenth hinge rod; the lower end of the first hinge rod is hinged on the left end portion of the rotating base plate; the upper end of the first hinge rod The left end of the second hinge rod is hinged to the left end of the second hinge rod; the right end of the second hinge rod is hinged to the lower end of the third hinge rod; the middle part of the second hinge rod is hinged to the upper end of the fourth hinge rod; the lower end of the fourth hinge rod is hinged to the rotating base plate and is located on the right side of the first hinge rod, and the lower end of the fourth hinge rod is connected to the first transmission motor through the first coupling; the lower end of the fifth hinge rod is hinged to the upper end of the third hinge rod; the upper end of the fifth hinge rod is hinged to the upper end of the sixth hinge rod; the lower end of the sixth hinge rod is hinged to the upper end of the seventh intersection rod, and the seventh intersection rod is cross-arranged with the third hinge rod and hinged at the intersection; the third The articulated rod, the fifth articulated rod, the sixth articulated rod and the seventh articulated rod form a rhombus; the lower end of the seventh articulated rod is articulated with the left end of the eighth articulated rod; the right end of the eighth articulated rod is articulated with the upper end of the ninth articulated rod, and the lower end of the ninth articulated rod is articulated on the right end of the rotating base plate; the upper end of the tenth articulated rod is articulated with the middle part of the eighth articulated rod; the lower end of the tenth articulated rod is articulated on the rotating base plate and is located on the left side of the ninth articulated rod; and the lower end of the tenth articulated rod is connected to the second transmission motor through the second coupling; the top of the tool is arranged at the hinge of the fifth articulated rod and the sixth articulated rod through the tool fixing block. The structure is ingenious, the moment of inertia is small, the control accuracy is high, and the telecentric mechanism is realized to increase the reliability and safety of the operation. As a preferred embodiment, a tool connection block is arranged at the hinge of the seventh intersection rod and the third articulated rod; the tool passes through the tool connection block. It plays a better fixing and rotation role. Preferably, the middle part of the rotating shaft is bent to form a notch; the lower part of the tool is arranged in the notch, and the tool is located in the middle of the notch, thereby reducing the occupied space and providing medical staff with a larger operating space.Preferably, there are two bearing seats on each of the first support frame and the second support frame, and the first rotating sleeve is arranged between the two bearing seats on the first support frame; the second rotating sleeve is arranged between the two bearing seats on the second support frame. The tool can complete multi-directional rotation. Preferably, the diamond shape is located above the second hinge rod and the eighth hinge rod. Based on the diamond shape and the synchronous belt motion structure, the decoupling drive of multiple joints is realized. Preferably, the rotating motor is arranged on the left part of the first support frame through the rotating motor connecting plate. The whole structure is more solid and the control is more reliable. Preferably, the hinge and the rotating part of the robot are provided with bearings to reduce friction. The flexibility of the whole device is improved. Compared with the prior art, the present invention has the following beneficial effects: (1) based on the diamond and synchronous belt motion structure, decoupled drive of multiple joints is realized; (2) the motor for controlling the freedom of movement is placed on the frame, and synchronous belt transmission is used, which significantly reduces the motion inertia of the robot end and effectively improves the robot's motion flexibility; (3) the structural design is ingenious and simple, and easy to install; (4) it can be controlled more reliably, which enhances the reliability and safety of the operation and also reduces the cost.

[0006] Prior art two, a Chinese invention patent with application number: 202010946733 and titled "Minimally Invasive Surgical Robot", includes: a master hand, which includes a manipulation part, and the manipulation part has a built-in pressure detection part for detecting finger pressure; a slave hand, which is provided with a detection part; a controller respectively connected to the slave hand, the detection part, the manipulation part and the pressure detection part; when the finger manipulates the manipulation part to move forward, the controller controls the slave hand to clamp the foreign object according to the signal feedback from the pressure detection part; when the slave hand clamps the foreign object, the controller controls the manipulation part to move in the opposite direction according to the signal feedback from the detection part to apply feedback force to the finger. Preferably, the master hand further comprises: 1. a fixed seat; a rotating disk rotatably arranged on the top of the fixed seat; a rotating driving member connected to the rotating disk; a parallelogram rod group arranged on the rotating disk; a first swing driving member and a second swing driving member respectively connected to the parallelogram rod group; the rotating driving member, the first swing driving member and the second swing driving member are all connected to a controller; when the slave hand clamps the foreign object, the controller controls the rotation driving member to move according to the signal fed back by the detection unit so that the rotation driving member drives the rotating disk to rotate relative to the fixed seat and controls the first swing driving member and the second swing driving member to move respectively so that the first swing driving member and the second swing driving member respectively drive the parallelogram rod group to swing in two directions respectively. Preferably, the master hand further comprises: a bearing arm rotatably connected to the operating part along the axial direction; a rotating arm driving member connected to the bearing arm and used to drive the operating part to rotate relative to the bearing arm; the rotating arm driving member is connected to the controller, and when the slave hand clamps the foreign object, the controller adjusts the torsional torque of the rotating arm driving member according to the signal fed back by the detection unit to adjust the torsional torque applied to the operating part by the rotating arm driving member. Preferably, the operating part includes: a support arm and a stop plate arranged opposite to each other in the axial direction; a connecting rope with a first end fixedly connected to the stop plate and a second end passing through the support arm to be connected to the operating drive member; the operating drive member is connected to the controller; a slider located between the support arm and the stop plate and slidably mounted on the connecting rope; a pressure detecting member is fixedly arranged on the outer periphery of the slider; an elastic member connected between the stop plate and the slider; at least one pressing plate hinged to the support arm and the slider respectively; when the pressing plate is manually pressed down, the pressing plate drives the slider to slide in a direction away from the support arm until the pressing plate and the pressure detecting member abut against each other so that the controller controls the slave hand to clamp the foreign object according to the signal fed back by the pressure detecting member; when the slave hand clamps the foreign object, the controller controls the operating drive member to pull the connecting rope according to the signal fed back by the detection part, and the connecting rope pulls the stop plate to move in a direction close to the support arm, and the stop plate pushes the slider to slide in a direction close to the support arm through the elastic member so that the slider pushes the pressing plate to apply feedback force to the finger. Preferably, the operating part further comprises a guide sleeve fixedly arranged between the slider and the operating drive member and passing through the support arm, through which the connecting rope passes and used to guide the movement of the connecting rope. Preferably, the operating part comprises two pressing plates symmetrically hinged to both sides of the support arm and the slider, and a return torsion spring is arranged between the two pressing plates to respectively abut against the two to assist the two to automatically return to their original position after the fingers are released, and the return torsion spring is arranged in the support arm.Preferably, the slave hand includes a first clamp and a second clamp that are hinged to each other, and the detection part includes: at least three elastic arms respectively arranged on opposite sides of the first clamp and the second clamp; each elastic arm is provided with a force detection member; an elastic packaging film used to fix the elastic arm to the first clamp and the second clamp in an integral manner; the elastic packaging film is provided with at least one contact point opposite to the elastic arm; when the first clamp and the second clamp clamp a foreign object, the elastic packaging film is elastically deformed under the action of the foreign object so that the contact point squeezes the elastic arm to elastically deform until the controller decouples the five-dimensional force information according to the signal feedback from all the force detection members. Preferably, the detection part also includes a support block embedded with the elastic arm and fixedly arranged on the opposite sides of the first clamp and the second clamp; a positioning column and a positioning groove that cooperate with each other to limit the position of the contact point and the elastic arm are provided between the support block and the elastic packaging film. Preferably, the master hand also includes: an elbow joint rotatably arranged at the free end of the parallelogram rod group along the axial direction; and a wrist joint hinged to the elbow joint and the load-bearing arm at both ends. Compared with the background technology, the minimally invasive surgical robot provided by the present invention includes a master hand, a slave hand and a controller. The master hand includes a manipulation part, and the manipulation part is equipped with a pressure detection part for detecting finger pressure. The slave hand is provided with a detection part, and the controller is respectively connected to the slave hand, the detection part, the manipulation part and the pressure detection part. When the finger manipulates the manipulation part to move forward, the controller controls the slave hand to clamp the foreign object according to the signal feedback from the pressure detection part; when the slave hand clamps the foreign object, the controller controls the manipulation part to move in the opposite direction according to the signal feedback from the detection part to apply feedback force to the finger; the master hand and the slave hand respectively realize force feedback with the help of the pressure detection part and the detection part, forming a closed-loop control, so that the master hand and the slave hand can perform interactive force perception, reduce the risk of misoperation, avoid accidental injury to tissues or organs due to lack of force perception feedback, and improve the safety of surgery.

[0007] However, after careful study of the above prior art, it is not difficult to find that the above prior art still has some technical problems;

[0008] The robot of the prior art 1 has a low degree of freedom; the robot surgery of the prior art 2 has poor adaptability and can only be used for a single operation.

[0009] Therefore, based on the above technical problems, technicians in this field urgently need to develop a multi-degree-of-freedom surgical robot. Summary of the invention

[0010] The purpose of the present invention is to provide a multi-degree-of-freedom surgical robot, which has seven degrees of freedom and can perform surgical operations according to different human body sizes and different types of surgeries.

[0011] In order to achieve the above object, the present invention provides the following technical solutions:

[0012] A multi-degree-of-freedom surgical robot of the present invention comprises:

[0013] Lower and upper platforms; and

[0014] Four sets of surgical robotic arms movably connected to the upper platform;

[0015] The upper platform is movably connected to the lower platform through an upper platform lifting mechanism, and the upper platform is driven to rise and fall by the upper platform lifting mechanism to drive the surgical robot arm to rise and fall;

[0016] A distal minimally invasive surgical instrument is integrated at the upper end of the surgical robot arm, and the distal minimally invasive surgical instrument can adjust its spatial position through the surgical robot arm to adapt to different position requirements.

[0017] Furthermore, the lower platform comprises:

[0018] Lower platform base; and

[0019] A lower platform side plate disposed on the side of the lower platform base;

[0020] A plurality of platform support columns are arranged around the lower platform base, and the lower platform side plates are connected to the platform support columns;

[0021] The bottom of the lower platform base is provided with a universal brake caster;

[0022] The upper platform lifting mechanism is integrated on both sides of the lower platform base, and the upper platform is connected to the upper platform lifting mechanism;

[0023] The lower platform base is integrated with a synchronization module, a control module and a power adapter.

[0024] Furthermore, the upper platform lifting mechanism includes:

[0025] Upper platform lifting motor;

[0026] an upper platform lifting diverter connected to the output end of the upper platform lifting motor; and

[0027] A lifting nut connected to the output end of the upper platform lifting and steering device, the lifting nut is movably connected to the lower lifting shaft through a shaft sleeve, and the upper platform lifting motor drives the lifting nut to move relative to the lifting shaft through the upper platform lifting and steering device to adjust the height of the upper platform;

[0028] A lifting fixed end cross beam is arranged at the upper end of the upper platform lifting mechanism, and both ends of the lifting fixed end cross beam are upper platform lifting fixed ends connected to the upper platform.

[0029] Furthermore, the upper platform includes:

[0030] Upper platform body;

[0031] Upper platform lifting connection ends are arranged at four corners of the lower surface of the upper platform body, and the upper platform lifting connection ends are assembled and fixed with the upper platform lifting fixed ends by bolts;

[0032] The lower surface of the upper platform body is provided with a lateral moving component and a longitudinal moving component;

[0033] The transverse moving assembly is slidably connected to the longitudinal moving assembly so that the longitudinal position can be adjusted by the longitudinal moving assembly;

[0034] A mechanical arm mounting structure is slidably connected to the lateral moving assembly, and the mechanical arm mounting structure adjusts the lateral position through the lateral moving assembly;

[0035] The surgical robotic arm is connected to the corresponding robotic arm mounting structure.

[0036] Furthermore, the longitudinal moving component comprises:

[0037] a longitudinally movable rack extending in the longitudinal direction of the upper platform body;

[0038] A plurality of longitudinally movable slide rails extending longitudinally along the upper platform body; and

[0039] A longitudinal moving gear connected to the side of the transverse moving assembly and meshing with the longitudinal moving rack, wherein the transverse moving assembly moves along the longitudinal moving assembly through the meshing of the longitudinal moving gear and the longitudinal moving rack;

[0040] The longitudinal moving assembly is also provided with a longitudinal limit sensor;

[0041] The lateral movement component comprises:

[0042] a transversely movable rack extending laterally along the upper platform body;

[0043] a plurality of transversely movable slide rails extending laterally along the upper platform body; and

[0044] A transverse moving gear connected to the mechanical arm mounting structure, the transverse moving gear meshing with the transverse moving rack, and the mechanical arm mounting structure moves along the transverse moving assembly through the meshing of the transverse moving gear and the transverse moving rack;

[0045] The lateral movement assembly also includes a lateral limit sensor.

[0046] Furthermore, the surgical robot arm comprises:

[0047] A surgical robot arm bottom support, a surgical robot arm side support extending from the side of the surgical robot arm bottom support, the surgical robot arm side support extending to the lower part of the upper platform and connected to the corresponding robotic arm mounting structure;

[0048] A vertical motion structure provided at the upper end of the bottom support of the surgical robot arm, wherein the vertical motion structure can adjust the height;

[0049] A telecentric motion module integrated at the upper end of the vertical motion structure, wherein the telecentric motion module can rotate around a connection end A with the vertical motion structure;

[0050] The front end of the telecentric motion module is a connection end B, and a telecentric mechanism is connected to the connection end B, and the telecentric mechanism can rotate around the connection end B;

[0051] The distal end minimally invasive surgical instrument is integrated on the telecentric mechanism, and the distal end minimally invasive surgical instrument can slide along the arc track of the telecentric mechanism to adjust the angle.

[0052] Furthermore, the telecentric mechanism comprises:

[0053] The arc track;

[0054] A distal motor connected to the distal minimally invasive surgical instrument, wherein the output end of the distal motor is connected to a distal motor gear, and the distal motor gear is meshed with the arc track;

[0055] A distal end limit sensor is arranged near the upper end of the arc track.

[0056] Furthermore, the distal minimally invasive surgical instrument has a control cabin, and the control cabin is integrated with a driving structure capable of driving the distal minimally invasive surgery forceps end to extend and retract.

[0057] In the above technical solution, the multi-degree-of-freedom surgical robot provided by the present invention has the following beneficial effects:

[0058] The multi-degree-of-freedom surgical robot of the present invention has seven degrees of freedom and can perform surgical operations according to different human body sizes and different types of surgeries. The overall structure is novel and the operation is convenient.

[0059] The surgical robot of the present invention adopts a liftable mobile platform. Compared with the existing solutions, four surgical robot arms are connected to the lower surface of the upper platform to enhance the overall rigidity of the liftable mobile platform. The lifting function of the upper platform is also realized through the platform lifting mechanism, which improves the operability of the device. The lower platform is equipped with four universal brake casters, which can make the entire device move smoothly and more conveniently.

[0060] The robotic arm of the surgical robot of the present invention has seven degrees of freedom, which can be transformed according to different human body sizes and different minimally invasive surgical operation requirements. The multiple degrees of freedom greatly improve the flexibility and accuracy of the surgical robot and reduce the labor intensity of the doctor's surgical operation.

[0061] The surgical robot of the present invention uses a plurality of position sensors to identify the movement position and movement condition of the surgical robot arm, and performs limiting or self-locking according to the usage conditions, thereby greatly improving the safety of the surgical robot during movement.

[0062] The surgical robot of the present invention distributes four surgical robotic arms on both sides of the platform, and cooperates with the multi-degree-of-freedom design of the surgical robotic arms, so that the four surgical robotic arms have sufficient space for adjusting postures, thereby improving the ability of the surgical robot to adapt to different surgical requirements.

[0063] The axial drive and single arc track structure of the robotic arm of the surgical robot of the present invention realize the centering movement of the surgical robotic arm around the surgical window during the operation, ensuring that the movement of the robotic arm will not scratch the surface incision, thereby better completing minimally invasive surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0065] Figure 1 A schematic structural diagram of a multi-degree-of-freedom surgical robot provided by an embodiment of the present invention;

[0066] Figure 2 An exploded view of the structure of an upper platform and a lower platform of a multi-degree-of-freedom surgical robot provided by an embodiment of the present invention;

[0067] Figure 3 A schematic structural diagram of an upper platform lifting mechanism of a multi-degree-of-freedom surgical robot provided by an embodiment of the present invention;

[0068] Figure 4 A schematic structural diagram of the upper platform and the lower platform of a multi-degree-of-freedom surgical robot in a raised state provided by an embodiment of the present invention;

[0069] Figure 5 A schematic structural diagram of an upper platform of a multi-degree-of-freedom surgical robot provided by an embodiment of the present invention;

[0070] Figure 6 An enlarged structural diagram of an upper platform of a multi-degree-of-freedom surgical robot provided by an embodiment of the present invention;

[0071] Figure 7 A schematic structural diagram of a lateral movement component of a multi-degree-of-freedom surgical robot provided by an embodiment of the present invention;

[0072] Figure 8 A schematic structural diagram of a surgical robot arm of a multi-degree-of-freedom surgical robot provided by an embodiment of the present invention;

[0073] Fig. 9 A structural cross-sectional view of a surgical robot arm of a multi-degree-of-freedom surgical robot provided in an embodiment of the present invention.

[0074] Description of reference numerals:

[0075] 1. Lower platform; 2. Upper platform; 3. Surgical robotic arm; 4. Minimally invasive surgical instruments at the distal end;

[0076] 101. Lower platform base; 102. Lower platform side panel; 103. Platform support column; 104. Universal brake caster; 105. Lifting fixed end crossbeam; 106. Upper platform lifting fixed end; 107. Synchronization module; 108. Power adapter; 109. Control module; 110. Upper platform lifting mechanism;

[0077] 1101, upper platform lifting motor; 1102, upper platform lifting steering gear; 1103, lifting nut; 1104, lifting shaft; 1105, guard plate fixing bracket;

[0078] 201, upper platform body; 202, upper platform lifting connection end; 203, longitudinal moving rack; 204, longitudinal moving slide rail; 205, longitudinal moving gear; 206, longitudinal limit sensor; 207, transverse moving rack; 208, transverse moving slide rail; 209, transverse moving gear; 210, transverse limit sensor; 211, mechanical arm installation structure;

[0079] 301, bottom support of surgical robot arm; 302, side support of surgical robot arm; 303, lifting motor; 304, connection surface of surgical robot arm; 305, vertical motion structure; 306, telecentric end motor; 307, telecentric end motor gear; 308, arc track; 309, moving rod; 310, moving switch; 311, telecentric motion module; 312, connection end A; 313, connection end B; 314, telecentric mechanism; 315, telecentric end limit sensor;

[0080] 30501, support structure fixed end; 30502, support structure moving frame;

[0081] 401. Clamp end; 402. Control cabin. DETAILED DESCRIPTION

[0082] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0083] See also Figures 1 to 9 As shown;

[0084] A multi-degree-of-freedom surgical robot of this embodiment includes:

[0085] Lower platform 1 and upper platform 2; and

[0086] Four sets of surgical robotic arms 3 movably connected to the upper platform 2;

[0087] The upper platform 2 is movably connected to the lower platform 1 through the upper platform lifting mechanism 110, and the upper platform 2 is driven to rise and fall by the upper platform lifting mechanism 110 to drive the surgical robot arm 3 to rise and fall;

[0088] A distal minimally invasive surgical instrument 4 is integrated at the upper end of the surgical robot arm 3 , and the distal minimally invasive surgical instrument 4 can adjust its spatial position through the surgical robot arm 4 to adapt to different position requirements.

[0089] Specifically, the present embodiment discloses a multi-degree-of-freedom surgical robot, which includes a lower platform 1, an upper platform 2 and four groups of surgical robotic arms 3; wherein the upper platform 2 is movably connected to the lower platform 1 through an upper platform lifting mechanism 110 to adjust the height; the four groups of surgical robotic arms 3 are distributed on the side of the upper platform 2, and the positions can be independently controlled, so that the spatial position of the distal end minimally invasive surgical instrument 4 integrated on each surgical robotic arm 3 and the adjustment to adapt to different human bodies and different surgical requirements are realized in the form of multiple degrees of freedom.

[0090] Preferably, the lower platform 1 of this embodiment includes:

[0091] Lower platform base 101; and

[0092] A lower platform side plate 102 disposed on the side of the lower platform base 101;

[0093] A plurality of platform support columns 103 are arranged around the lower platform base 101, and the lower platform side plates 102 are connected to the platform support columns 103;

[0094] The bottom of the lower platform base 101 is provided with a universal brake caster 104;

[0095] An upper platform lifting mechanism 110 is integrated on both sides of the lower platform base 101, and the upper platform 2 is connected to the upper platform lifting mechanism 110;

[0096] The lower platform base 101 is integrated with a synchronization module 107 , a control module 109 and a power adapter 108 .

[0097] The upper platform lifting mechanism 110 of this embodiment includes:

[0098] Upper platform lifting motor 1101;

[0099] An upper platform lifting diverter 1102 connected to the output end of the upper platform lifting motor 1101; and

[0100] A lifting nut 1103 connected to the output end of the upper platform lifting diverter 1102, the lifting nut 1103 is movably connected to the lower lifting shaft 1104 through a shaft sleeve, and the upper platform lifting motor 1101 drives the lifting nut 1103 to move relative to the lifting shaft 1104 through the upper platform lifting diverter 1102 to adjust the height of the upper platform 2;

[0101] A lifting fixed end cross beam 105 is provided at the upper end of the upper platform lifting mechanism 110 , and both ends of the lifting fixed end cross beam 105 are upper platform lifting fixed ends 106 connected to the upper platform 2 .

[0102] First, this embodiment further defines the structure of the lower platform 1, and the structure of the lower platform 1 driving the upper platform 2 to rise and fall, that is, the structure of the upper platform lifting mechanism 110 of this embodiment; the lower platform side plate 102 of this embodiment is fixed to the side of the lower platform base 101 through the platform support column 103, and at the same time, the upper platform 2 of this embodiment is connected to the upper platform lifting mechanism 110 to achieve height adjustment; specifically, the upper platform lifting mechanism 110 is provided with an upper platform lifting fixed end 105 connected to the upper platform lifting connection end 202 of the upper platform 2, and the two are connected in a bolted manner. The upper platform lifting motor 1101 of this embodiment is connected to the upper platform lifting steering gear 1102, and the upper platform lifting steering gear 1102 is connected to the lifting nut 1103, and the lifting nut 1103 is movably connected to the lifting shaft 1104 through a shaft sleeve. In addition, a guard plate fixing frame 1105 is also provided on the outer side of the lifting nut 1103. When the synchronization module 107 and the power adapter 108 integrated in the lower platform 1 control the upper platform lifting motor 1101 to rotate forward, the upper platform lifting diverter 1102 changes the direction of conduction of the upper platform lifting motor 1101 from horizontal to vertical, and then realizes the lifting of the upper platform 2 and the lower platform 1 through the lifting nut 1103 and the lifting shaft 1104, and vice versa.

[0103] Preferably, the upper platform 2 of this embodiment includes:

[0104] Upper platform body 201;

[0105] The upper platform lifting connection ends 202 are arranged at the four corners of the lower surface of the upper platform body 201, and the upper platform lifting connection ends 202 are assembled and fixed with the upper platform lifting fixed ends 105 by bolts;

[0106] The lower surface of the upper platform body 201 is provided with a lateral moving component and a longitudinal moving component;

[0107] The transverse moving component is slidably connected to the longitudinal moving component so as to adjust the longitudinal position through the longitudinal moving component;

[0108] A mechanical arm mounting structure 211 is slidably connected to the lateral moving assembly, and the mechanical arm mounting structure 211 adjusts the lateral position through the lateral moving assembly;

[0109] The surgical robot arm 3 is connected to the corresponding robot arm mounting structure 211 .

[0110] The longitudinal moving assembly of this embodiment includes:

[0111] A longitudinally movable rack 203 extending longitudinally along the upper platform body 201;

[0112] A plurality of longitudinally movable slide rails 204 extending longitudinally along the upper platform body 201; and

[0113] A longitudinal moving gear 205 connected to the side of the transverse moving assembly and meshing with the longitudinal moving rack 203, and the transverse moving assembly moves along the longitudinal moving assembly through the meshing of the longitudinal moving gear 205 and the longitudinal moving rack 203;

[0114] The longitudinal moving assembly is also provided with a longitudinal limit sensor 206;

[0115] Secondly, the lateral movement component of this embodiment includes:

[0116] A transversely movable rack 207 extending in the transverse direction of the upper platform body 201;

[0117] A plurality of lateral sliding rails 208 extending laterally along the upper platform body 201; and

[0118] A transverse moving gear 209 connected to the mechanical arm mounting structure 211, the transverse moving gear 209 is meshed with the transverse moving rack 207, and the mechanical arm mounting structure 211 moves along the transverse moving assembly through the meshing of the transverse moving gear 209 and the transverse moving rack 207;

[0119] The lateral movement assembly further includes a lateral limit sensor 210 .

[0120] This embodiment further defines the structure of the upper platform 2, as well as the structure of the lateral moving assembly and the longitudinal moving assembly integrated in the upper platform 2; the longitudinal moving assembly and the longitudinal moving assembly in the upper platform 2 of this embodiment are used to drive the lateral and longitudinal movement of the surgical robot 3, and the surgical robot 3 of this embodiment has a total of seven degrees of freedom, among which the first degree of freedom is that when the surgical robot 3 is connected to the robot mounting structure 211 on the lateral moving assembly, the lateral movement is adjusted through the lateral moving gear 209 and the lateral moving slide rail 208, which is the first degree of freedom of the surgical robot 3; and the lateral moving assembly is slidably connected with the longitudinal moving assembly to achieve the longitudinal position adjustment of the surgical robot 3, which is the second degree of freedom of the surgical robot 3. The specific lateral moving assembly and the longitudinal moving assembly both adopt the method of rack and gear meshing, which will not be repeated here.

[0121] Secondly, the surgical robot arm 3 of this embodiment includes:

[0122] A surgical robot arm bottom support 301, a surgical robot arm side support 302 extending from the side of the surgical robot arm bottom support 301, and the surgical robot arm side support 302 extending to the lower part of the upper platform 2 and connected to the corresponding robot arm mounting structure 211;

[0123] A vertical motion structure 305 is provided at the upper end of the bottom support 301 of the surgical robot arm, and the vertical motion structure 305 can adjust the height;

[0124] A telecentric motion module 311 integrated at the upper end of the vertical motion structure 305, the telecentric motion module 311 can rotate around a connection end A 312 with the vertical motion structure 305;

[0125] The front end of the telecentric motion module 311 is a connection end B 313, and a telecentric mechanism 314 is connected to the connection end B 313, and the telecentric mechanism 314 can rotate around the connection end B 313;

[0126] The telecentric mechanism 314 is integrated with a telecentric minimally invasive surgical instrument 4 , and the telecentric minimally invasive surgical instrument 4 can slide along the arc track 308 of the telecentric mechanism 314 to adjust the angle.

[0127] The telecentric mechanism 314 of this embodiment includes:

[0128] Curved track 308;

[0129] A distal motor 306 connected to the distal minimally invasive surgical instrument 4, wherein the output end of the distal motor 306 is connected to a distal motor gear 307, and the distal motor gear 307 is meshed with an arc track 308;

[0130] A distal end limit sensor 315 is provided near the upper end of the arc track 308 .

[0131] The distal minimally invasive surgical instrument 4 has a control cabin 402 , and the control cabin 402 is integrated with a driving structure capable of driving the forceps end 401 of the distal minimally invasive surgical instrument 4 to extend and retract.

[0132] The present embodiment further defines the structure of the surgical robot arm 3. When the surgical robot arm 3 is connected to the robot arm mounting structure 211 on the lateral moving assembly, the vertical motion structure 305 of the present embodiment is divided into a support structure fixed end 30501 and a support structure moving frame 30502. The height of the surgical robot arm 3 of the present embodiment is adjusted by driving the support structure moving frame 30502 to move via the lifting motor 303 of the vertical motion structure 305. This is the third degree of freedom of the surgical robot arm 3.

[0133] Secondly, a telecentric motion module 311 is arranged on the upper part of the vertical motion structure 305 of the present embodiment, and the telecentric motion module 311 can rotate relative to the vertical motion structure 305 around the connection end A 312, which is the fourth degree of freedom of the surgical robot 3; secondly, the front end of the telecentric motion module 311 has a connection end B 313, and the telecentric mechanism 314 can rotate relative to the telecentric motion module 311 around the connection end B313, which is the fifth degree of freedom of the surgical robot 3.

[0134] Subsequently, the telecentric mechanism uses the arc track 308 to adjust the angle of the distal minimally invasive surgical instrument 4 along the arc track 308 , thereby realizing the sixth degree of freedom of the surgical robot arm 3 .

[0135] Finally, the extension and retraction of the forceps end 401 of the distal minimally invasive surgical instrument 4 itself is the seventh degree of freedom of the surgical robot arm 3 of this embodiment.

[0136] In terms of control, the longitudinal limit sensor 206 is installed at the end of the longitudinal stroke of the upper platform 2, and the control module 109 is used to identify and analyze the movement position of the surgical robot arm 3 and thus control the longitudinal movement of the surgical robot arm 3. The transverse limit sensor 210 is installed at the end of the transverse stroke, and the control module 109 is used to identify and analyze the movement position of the surgical robot arm 3 and thus control the transverse movement of the surgical robot arm 3. The above-mentioned distal end limit sensor 315 is installed at the uppermost end of the arc track 308, and the control cabin 402 is used to identify and analyze the movement position of the distal end motor 306 and thus control the movement of the distal end minimally invasive surgical instrument 4.

[0137] In the above technical solution, the multi-degree-of-freedom surgical robot provided by the present invention has the following beneficial effects:

[0138] The multi-degree-of-freedom surgical robot of the present invention has seven degrees of freedom and can perform surgical operations according to different human body sizes and different types of surgeries. The overall structure is novel and the operation is convenient.

[0139] The surgical robot of the present invention adopts a liftable mobile platform. Compared with the existing solutions, four surgical robot arms 3 are connected to the lower surface of the upper platform 1 to enhance the overall rigidity of the liftable mobile platform. The lifting function of the upper platform is also realized through the platform lifting mechanism, which improves the operability of the device. The lower platform 1 is equipped with four universal brake casters 104, which can make the entire device move smoothly and more conveniently.

[0140] The robotic arm of the surgical robot of the present invention has seven degrees of freedom, which can be transformed according to different human body sizes and different minimally invasive surgical operation requirements. The multiple degrees of freedom greatly improve the flexibility and accuracy of the surgical robot and reduce the labor intensity of the doctor's surgical operation.

[0141] The surgical robot of the present invention uses a plurality of position sensors to identify the movement position and movement condition of the surgical robot arm 3, and performs limiting or self-locking according to the usage conditions, thereby greatly improving the safety of the surgical robot during movement.

[0142] The surgical robot of the present invention distributes four surgical robot arms 3 on both sides of the platform, and cooperates with the multi-degree-of-freedom design of the surgical robot arms 3, so that the four surgical robot arms 3 have sufficient space for adjusting postures, thereby improving the ability of the surgical robot to adapt to different surgical requirements.

[0143] The axial drive and single arc track structure of the robotic arm of the surgical robot of the present invention realize the centering movement of the surgical robotic arm 3 around the surgical window during the operation, ensuring that the movement of the robotic arm will not scratch the surface incision, thereby better completing minimally invasive surgery.

[0144] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-degree-of-freedom surgical robot, It is characterized in that The surgical robot includes: a lower platform (1) and an upper platform (2); and Four sets of surgical robot arms (3) movably connected to the upper platform (2); The upper platform (2) is movably connected to the lower platform (1) via an upper platform lifting mechanism (110), and the upper platform (2) is driven to rise and fall by the upper platform lifting mechanism (110) to drive the surgical robot arm (3) to rise and fall; A distal minimally invasive surgical instrument (4) is integrated at the upper end of the surgical robotic arm (3), and the distal minimally invasive surgical instrument (4) is adjusted in spatial position through the surgical robotic arm (3) to adapt to different position requirements.

2. A multi-degree-of-freedom surgical robot according to claim 1, It is characterized in that The lower platform (1) comprises: A lower platform base (101); and A lower platform side plate (102) disposed on a side of the lower platform base (101); A plurality of platform support columns (103) are arranged in the circumferential direction of the lower platform base (101), and the lower platform side plates (102) are connected to the platform support columns (103); The bottom of the lower platform base (101) is provided with a universal brake caster (104); The upper platform lifting mechanism (110) is integrated on both sides of the lower platform base (101), and the upper platform (2) is connected to the upper platform lifting mechanism (110); The lower platform base (101) is integrated with a synchronization module (107), a control module (109) and a power adapter (108).

3. A multi-degree-of-freedom surgical robot according to claim 2, It is characterized in that The upper platform lifting mechanism (110) comprises: Upper platform lifting motor (1101); an upper platform lifting diverter (1102) connected to the output end of the upper platform lifting motor (1101); and A lifting nut (1103) connected to the output end of the upper platform lifting and diverting device (1102), the lifting nut (1103) being movably connected to the lower lifting shaft (1104) via a shaft sleeve, and the upper platform lifting motor (1101) drives the lifting nut (1103) to move relative to the lifting shaft (1105) via the upper platform lifting and diverting device (1102) to adjust the height of the upper platform (2); A lifting fixed end cross beam (105) is provided at the upper end of the upper platform lifting mechanism (110), and both ends of the lifting fixed end cross beam (105) are upper platform lifting fixed ends (106) connected to the upper platform (2).

4. A multi-degree-of-freedom surgical robot according to claim 3, It is characterized in that The upper platform (2) comprises: Upper platform body (201); Upper platform lifting connection ends (202) are arranged at four corners of the lower surface of the upper platform body (201), and the upper platform lifting connection ends (202) are assembled and fixed to the upper platform lifting fixed ends (105) by bolts; The lower surface of the upper platform body (201) is provided with a transverse moving component and a longitudinal moving component; The transverse moving assembly is slidably connected to the longitudinal moving assembly so that the longitudinal position can be adjusted by the longitudinal moving assembly; A mechanical arm mounting structure (211) is slidably connected to the transverse moving assembly, and the mechanical arm mounting structure (211) adjusts the transverse position through the transverse moving assembly; The surgical robotic arm (3) is connected to the corresponding robotic arm mounting structure (211).

5. A multi-degree-of-freedom surgical robot according to claim 4, It is characterized in that The longitudinal moving assembly comprises: A longitudinally movable rack (203) extending in the longitudinal direction of the upper platform body (201); A plurality of longitudinal movable slide rails (204) extending longitudinally along the upper platform body (201); and A longitudinal moving gear (205) connected to the side of the transverse moving component and meshing with the longitudinal moving rack (203), wherein the transverse moving component moves along the longitudinal moving component through the meshing of the longitudinal moving gear (205) and the longitudinal moving rack (203); The longitudinal moving component is also provided with a longitudinal limit sensor (206); The lateral movement component comprises: a transversely movable rack (207) extending in the transverse direction of the upper platform body (201); a plurality of transverse movable slide rails (208) extending transversely of the upper platform body (201); and a transverse moving gear (209) connected to the mechanical arm mounting structure (211), the transverse moving gear (209) meshing with the transverse moving rack (207), and the mechanical arm mounting structure (211) moves along the transverse moving assembly through the meshing of the transverse moving gear (209) and the transverse moving rack (207); The lateral movement assembly further comprises a lateral limit sensor (210).

6. A multi-degree-of-freedom surgical robot according to claim 4 or 5, It is characterized in that The surgical robot arm (3) comprises: A surgical robot arm bottom support (301), a surgical robot arm side support (302) extending from the side of the surgical robot arm bottom support (301), the surgical robot arm side support (302) extending to the lower part of the upper platform (2) and connected to the corresponding robotic arm mounting structure (211); A vertical motion structure (305) disposed at the upper end of the bottom support (301) of the surgical robot arm, wherein the vertical motion structure (305) is capable of adjusting the height; A telecentric motion module (311) integrated at the upper end of the vertical motion structure (305), wherein the telecentric motion module (311) is capable of rotating around a connection end A (312) with the vertical motion structure (305); The front end of the telecentric motion module (311) is a connection end B (313), and a telecentric mechanism (314) is connected to the connection end B (313), and the telecentric mechanism (314) can rotate around the connection end B (313); The distal minimally invasive surgical instrument (4) is integrated on the distal mechanism (314), and the distal minimally invasive surgical instrument (4) can slide along the arc track (308) of the distal mechanism (314) to adjust the angle.

7. A multi-degree-of-freedom surgical robot according to claim 6, It is characterized in that The telecentric mechanism (314) comprises: The arc track (308); A distal end motor (306) connected to the distal end minimally invasive surgical instrument (4), wherein the output end of the distal end motor (306) is connected to a distal end motor gear (307), and the distal end motor gear (307) is meshed with the arc track (308); A distal end limit sensor (315) is provided near the upper end of the arc track (308).

8. The multi-degree-of-freedom surgical robot according to claim 7, It is characterized in that The distal minimally invasive surgical instrument (4) has a control cabin (402), and the control cabin (402) is integrated with a driving structure capable of driving the clamp end (401) of the distal minimally invasive surgical instrument (4) to extend and retract.

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