Manipulating Support Device and Manipulating Support System

Abstract

A manipulation support device includes a main support rod, a secondary support rod, a main connecting rod and a secondary connecting rod. The main support rod defines a longitudinal axis and an enveloping side surface extending in a direction parallel to the longitudinal axis. The secondary support rod is movably connected to the main support rod. The main connecting rod is rotatably connected to the main support rod. One end of the secondary connecting rod is rotatably connected to the secondary support rod, and one of the middle part and the second end of the secondary connecting rod is rotatably connected to a main connecting rod. The relative translational movement of the secondary support rod and the main support rod drives the secondary connecting rod to displace between the inside and the outside of the enveloping side surface, so that the manipulation support device of the present invention allows a surgical instrument to enter the abdominal cavity through an opening in a folded state with a lateral dimension smaller than the opening, and is driven to displace within a range smaller than the opening size to be converted into an unfolded state, driving the secondary connecting rod and the surgical instrument to displace and change their orientations in a space range with a lateral dimension larger than the opening for surgical operations. After the operations are completed, the manipulation support device returns to the folded state and is taken out of the abdominal cavity through the opening to complete the surgery.

Description

Technical Field

[0001] The present invention relates to a manipulation support device and a manipulation support system, and particularly to a manipulation support device for the medical field and a manipulation support system having the manipulation support device. Background Art

[0002] Mechanical manipulation systems such as robotic arms, robots, etc. are applied in multiple fields to achieve a certain degree of automated operation and control. In the medical field, robotic arms, robots, etc. are used to manipulate surgical instruments to assist doctors in performing surgeries more precisely and effectively. Taking laparoscopic surgery as an example, in the currently implemented multi-port laparoscopic surgery, multiple ports need to be cut on the patient's abdomen to insert surgical devices and endoscopes. In contrast, single-port laparoscopic surgery has the advantage of minimizing invasiveness by reducing the number of skin incisions to only one.

[0003] Single-port laparoscopic surgery has relatively high functional requirements for surgical instruments, devices, and manipulation systems. Currently, the instruments and manipulation systems used for multi-port laparoscopic surgery are difficult to meet such requirements.

[0004] Therefore, there is a need to provide a manipulation support device and a manipulation support system suitable for single-port laparoscopic surgery, which can be used for single-port laparoscopic surgery to complete the relatively complex surgical operations that can be achieved by multi-port laparoscopic surgery. Summary of the Invention

[0005] The present invention provides a manipulation support device. According to one embodiment, the manipulation support device of the present invention includes a first main rod, a first secondary rod, a first main link, and a first secondary link. The first main rod defines a longitudinal axis and an envelope side surface extending in a direction parallel to the longitudinal axis. The first secondary rod is movably connected to the first main rod. The first main link is rotatably connected to the first main rod. The first secondary link has a first end, a second end, and an intermediate portion located between the first end and the second end. The first end of the first secondary link is rotatably connected to the first secondary rod, and one of the intermediate portion and the second end of the first secondary link is rotatably connected to the first main link. Wherein, the translation of the first secondary rod relative to the first main rod drives the first secondary link to displace between a first position and a second position. In the first position, the first secondary link and the first main link are located inside the envelope side surface, and in the second position, the second end of the first secondary link is located outside the envelope side surface.

[0006] When the first connecting rod is in the first position, the overall cross-sectional dimension of the manipulation support device is smaller than a preset single surgical port dimension, which enables the manipulation support device to carry a surgical instrument mounted at the second end of the first connecting rod to pass through the single surgical port and enter the patient's abdominal cavity. Under the manipulation of the manipulation support device, the surgical instrument entering the patient's abdominal cavity can change its orientation as the first connecting rod moves towards the second position, thereby realizing the operations required for the surgery.

[0007] After the surgery is completed, the surgical instrument can return to the first position along with the first connecting rod, such that the first connecting rod, the first main connecting rod, and the first support rod are located inside the envelope side surface, that is, the cross-sectional dimension of the manipulation support device is smaller than the preset single surgical port dimension, so that it can be taken out of the patient's abdominal cavity through the single surgical port.

[0008] Preferably, the first main connecting rod includes a pair of first protrusions, and the first main connecting rod is pivotally connected to the first main support rod through the pair of protrusions, wherein the first support rod is located between the pair of first protrusions.

[0009] Preferably, the first main connecting rod includes a pair of second protrusions, and the first main connecting rod is pivotally connected to the first connecting rod through the pair of protrusions, wherein the first connecting rod is located between the pair of second protrusions.

[0010] Alternatively, at least one of the connections between the first main connecting rod and the first main support rod, between the first connecting rod and the first support rod, and between the first connecting rod and the first main connecting rod is formed with a neck member that can be flexibly deformed, such that the two corresponding rods connected by the neck member can rotate relative to each other.

[0011] Alternatively, at least one of the connections between the first main connecting rod and the first main support rod, between the first connecting rod and the first support rod, and between the first connecting rod and the first main connecting rod is provided with a flexible rod that can be flexibly deformed, such that the two corresponding rods connected by the flexible rod can rotate relative to each other.

[0012] Preferably, when the first connecting rod is in the first position, the first support rod, the first main connecting rod, and the first connecting rod are located inside the envelope side surface.

[0013] According to another embodiment, the manipulation support device of the present invention further includes a first auxiliary support rod, a first auxiliary connecting rod, and a first slave connecting rod. The first auxiliary support rod is slidably connected to the first support rod. The first end of the first auxiliary connecting rod is rotatably connected to the first auxiliary support rod. The first end of the first slave connecting rod is rotatably connected to the second end of the first connecting rod. The second end of the first auxiliary connecting rod is rotatably connected to the first slave connecting rod.

[0014] Preferably, the relative translation between the first strut and the first main strut drives the first secondary link to displace between a first position and a second position. At the first position, the first secondary link is located inside the envelope side surface. At the second position, the second end of the first secondary link is located outside the envelope side surface.

[0015] Preferably, when the second end of the first secondary link is located outside the envelope side surface, the relative translation between the first auxiliary strut and the first strut drives the first secondary link to change its position outside the envelope side surface.

[0016] Preferably, when the first secondary link is in the first position, the first strut, the first auxiliary strut, the first main link, the first secondary link, and the first secondary link are all located inside the envelope side surface.

[0017] Preferably, the control support device of the present invention further includes a first main strut drive. The first main strut drive is fixed to the first main strut and operably drives the first main strut to translate relative to the first strut, thereby achieving the relative translation between the first main strut and the first strut.

[0018] Preferably, the control support device of the present invention further includes a first auxiliary strut drive. The first auxiliary strut drive is fixed to the first auxiliary strut and operably drives the first auxiliary strut to translate relative to the first strut.

[0019] Preferably, the control support device of the present invention further includes a frame and a first strut beam movably connected to the frame and fixed to the first strut. The first strut beam operably drives the first strut to move relative to the frame.

[0020] Preferably, the first strut beam is rotatably connected to the frame. The first strut beam can rotate relative to the frame about the longitudinal axis, thereby driving the first main strut, the first strut, the first main link, the first secondary link, the first auxiliary strut, the first auxiliary link, and the first secondary link to rotate relative to the frame about the longitudinal axis.

[0021] Preferably, the frame includes an annular outer edge and a frame tooth portion formed on the annular outer edge centered on the longitudinal axis. The control support device further includes a gear rotatably connected to the first strut beam. The gear meshes with the frame tooth portion. The rotation of the gear causes the gear to roll along the inner teeth, driving the first strut beam to rotate relative to the frame about the main axis of the frame.

[0022] Preferably, the control support device of the present invention further includes a base. The frame is movably connected to the base.

[0023] Preferably, the control support device of the present invention further includes a base lead screw, which is rotatably connected to the base and threadedly engaged with the frame, wherein the rotation of the base lead screw relative to the base drives the frame to translate relative to the base.

[0024] According to another embodiment, the control support device of the present invention further includes a second main strut, a second secondary strut, a second main link, and a second secondary link. The second main strut is translationally connected to the first main strut, the second secondary strut is translationally connected to the second main strut, the second main link is rotatably connected to the second main strut, and the second secondary link is rotatably connected to the second main link. Wherein, the translation of the second secondary strut relative to the second main strut drives the second secondary link to displace between a first position and a second position. In the first position, the second end of the second secondary link is located inside the envelope side surface, and in the second position, the second end of the second secondary link is located outside the envelope side surface.

[0025] Preferably, the second main strut and the first main strut are coaxially arranged along the longitudinal axis.

[0026] Preferably, the second main strut is translationally sleeved and connected to the first main strut.

[0027] Preferably, the second main strut is translationally sleeved and connected inside the first main strut.

[0028] Preferably, the second secondary strut is translationally sleeved and connected inside the second main strut.

[0029] Preferably, the geometric center of the cross-section of the second main strut and the geometric center of the cross-section of the first main strut are coaxially arranged along the longitudinal axis.

[0030] Preferably, the inside of the envelope side surface defines a first cylindrical space in the shape of a partial cylinder and a second cylindrical space in the shape of a partial cylinder. The first main strut is located in the first cylindrical space, and the second main strut is located in the second cylindrical space.

[0031] According to yet another embodiment, the control support device of the present invention further includes a third main support rod, a third secondary support rod, a third main link rod, and a third secondary link rod. The third main support rod is movably connected to the first main support rod. The third secondary support rod is movably connected to the third main support rod. The third main link rod is rotatably connected to the third main support rod. The third secondary link rod is rotatably connected to the third main link rod. Wherein, the translation of the third secondary support rod relative to the third main support rod drives the third secondary link rod to displace between a first position and a second position. At the first position, the second end of the third secondary link rod is located inside the envelope side surface. At the second position, the second end of the third secondary link rod is located outside the envelope side surface.

[0032] Preferably, the third main support rod and the first main support rod are coaxially arranged along the longitudinal axis.

[0033] Preferably, the third main support rod is movably sleeved and connected to the first main support rod.

[0034] Preferably, the third main support rod is movably sleeved and connected inside the first main support rod.

[0035] Preferably, the geometric center of the cross-section of the third main support rod, the geometric center of the cross-section of the first main support rod, and the second main support rod are coaxially arranged along the longitudinal axis.

[0036] Preferably, the envelope side surface defines a first cylindrical space in the shape of a partial cylinder, a second cylindrical space in the shape of a partial cylinder, and a third cylindrical space in the shape of a partial cylinder. The first main support rod is located in the first cylindrical space. The second main support rod is located in the second cylindrical space. The third main support rod is located in the third cylindrical space.

[0037] Preferably, the control support device of the present invention further includes a first secondary support rod driver, a second secondary support rod driver, and a third secondary support rod driver. The first secondary support rod driver is fixed to the first secondary support rod and operably drives the first secondary support rod to translate relative to the first main support rod. The second secondary support rod driver is fixed to the second secondary support rod and operably drives the second secondary support rod to translate relative to the second main support rod. The third secondary support rod driver is fixed to the third secondary support rod and operably drives the third secondary support rod to translate relative to the third main support rod.

[0038] According to another aspect, the present invention provides a manipulation support system. The manipulation support system includes a frame, which defines a manipulation interface, an execution side located on one side of the manipulation interface, and a manipulation side located on the other side of the manipulation interface, a secondary support beam connected to the frame, a main support beam movably connected to the secondary support beam and located on the execution side, an auxiliary support beam movably connected to the secondary support beam and located on the manipulation side, a secondary support rod fixed to the secondary support beam, a main support rod movably sleeved on the secondary support rod and fixed to the main support beam, an auxiliary support rod movably sleeved on the secondary support rod and fixed to the auxiliary support beam, a main support beam driving member rotatably penetrating and connecting to the secondary support beam and cooperatively connecting with the main support beam, and an auxiliary support beam driving member rotatably connected to the secondary support beam and cooperatively connecting with the auxiliary support beam. The main support beam driving member is operable to drive the main support beam to translate relative to the secondary support beam, and then drive the main support rod to translate relative to the secondary support rod. The auxiliary support beam driving member is operable to drive the auxiliary support beam to translate relative to the secondary support beam, and then drive the auxiliary support rod to translate relative to the secondary support rod.

[0039] Preferably, the secondary support beam is rotatably connected to the frame about the main axis of the frame. The manipulation support system includes a gear rotatably connected to the secondary support beam. The frame includes an annular outer edge and a tooth portion formed inside the annular outer edge. The gear meshes with the tooth portion, wherein the rotation of the gear relative to the secondary support beam drives the secondary support beam to rotate relative to the frame about the main axis.

[0040] Preferably, a manipulation support system of the present invention further includes a guide rod fixed to the secondary support beam and passing through the main support beam and the auxiliary support beam. The main support beam and the auxiliary support beam are movably connected to the guide rod.

[0041] Preferably, a manipulation support system of the present invention further includes a base, wherein the frame is movably connected to the base.

[0042] Preferably, a manipulation support system of the present invention further includes a main connecting rod, a secondary connecting rod, an auxiliary connecting rod and a slave connecting rod. The main connecting rod is rotatably connected to the main support rod. The secondary connecting rod is rotatably connected to the secondary support rod and the main support rod. The auxiliary connecting rod is rotatably connected to the auxiliary support rod and the slave connecting rod. The slave connecting rod is rotatably connected to the secondary connecting rod, wherein the translation of the main support rod relative to the secondary support rod drives the secondary support rod to displace between a folded position and an unfolded position. Description of the Drawings

[0043] In each of the drawings, the same reference numerals refer to components having the same structure or similar functions. The drawings are included in the specification together with the following detailed description to describe each embodiment according to the present invention and explain its technical solution, technical features, implementation manners and technical effects.

[0044] Figure 1 is a perspective view of the control support device according to an embodiment of the present invention in a folded state;

[0045] Figure 2 is Figure 1 a perspective view of the control support device shown in an unfolded state;

[0046] Figure 3 is Figure 1 a perspective view of the control state of the control support device shown;

[0047] Figure 4 is Figure 2 a perspective view of the control state of the control support device shown;

[0048] Figure 5 is a perspective view of the control support device according to another embodiment of the present invention in a folded state;

[0049] Figure 6 is Figure 5 a perspective view of the control support device shown in an unfolded state;

[0050] Figure 7 is Figure 5 a perspective view of the control state of the control support device shown;

[0051] Figure 8 is Figure 6 a perspective view of the control state of the control support device shown;

[0052] Fig. 9 is Figure 5 a perspective view of another angle of the control support device shown in a folded state;

[0053] Fig.10 is Fig. 9 a perspective view of the control support device shown in an unfolded state, wherein from a specific position of the link outside the envelope side surface;

[0054] Fig.11 is Fig. 9 a perspective view of the control support device shown in an unfolded state, wherein from another specific position of the link outside the envelope side surface;

[0055] Fig.12 is Fig. 9 a perspective view of the control support device shown in an unfolded state, wherein from yet another specific position of the link outside the envelope side surface;

[0056] Fig.13 is Figure 7 a top view;

[0057] Fig.14 is Figure 8 a top view showing Fig.13 the displacement direction of the components when the shown control support device changes to the deployed state;

[0058] Fig.15 is Figure 8 a top view showing Fig.14 the displacement direction of the components when the shown control support device changes to the folded state;

[0059] Fig.16 is Figure 7 a top view showing Fig.15 the shown control support device returning to the folded state;

[0060] Fig.17 is a perspective view of the control support device in the folded state according to another embodiment of the present invention;

[0061] Fig.18 is Fig.17 a perspective view of the shown control support device in the deployed state;

[0062] Fig.19 is Fig.17 a cross-sectional schematic view of;

[0063] Fig. 20 is a perspective view of the control support device in the folded state according to another embodiment of the present invention;

[0064] Fig.21 is Fig. 20 a perspective view of the shown control support device in the deployed state;

[0065] Fig. 22 is Fig. 20 a cross-sectional schematic view of;

[0066] Fig.23 is a perspective view of the control support device in the deployed state according to another embodiment of the present invention;

[0067] Fig.24 is Fig.23 a perspective view of the state change of the shown control support device;

[0068] Fig.25 is Fig.24 a perspective view of the shown control support device in the partially folded state;

[0069] Fig.26 is Fig.24 a perspective view of the shown control support device in the fully folded state;

[0070] Fig. 27 is a perspective view of the control support device according to another embodiment of the present invention in a fully folded state;

[0071] Fig.28 is Fig. 27 a perspective view of the control support device shown in a fully deployed state;

[0072] Fig.29 is Fig.28 a partially enlarged perspective view of the control support device shown;

[0073] Fig.30 is Fig. 27 a perspective view of the control state of the control support device shown;

[0074] Fig.31 is Fig.30 a perspective view of the control support device shown in a deployed state;

[0075] Fig.32 is Fig. 27 a partially enlarged perspective view of the control support device shown;

[0076] Fig.33 is Fig.32 a front view of the control support device shown;

[0077] Fig.34 is Fig.32 a perspective view of the control support device shown in a partially deployed state;

[0078] Fig.35 is Fig.34 a front view of the control support device shown;

[0079] Fig.36 is Fig.32 a perspective view of the control support device shown in a further deployed state;

[0080] Fig.37 is Fig.36 a front view of the control support device shown;

[0081] Fig.38 is Fig.32 a perspective view of the control support device shown in a fully deployed state;

[0082] Fig.39 is Fig.38 a front view of the control support device shown;

[0083] Fig.40 is a perspective view of the control support device according to another embodiment of the present invention in a fully folded state;

[0084] Fig.41 is Fig.40 Stereogram showing the manipulation support device in the deployed state;

[0085] Fig.42 is Fig.40 Front view of the manipulation support device shown;

[0086] Fig.43 is Fig.41 Front view of the manipulation support device shown;

[0087] Fig.44 is Fig.40 Partial sectional view of the manipulation state of the manipulation support device shown;

[0088] Fig.45 is Fig.41 Partial exploded stereogram of the manipulation support device shown;

[0089] Fig.46 Schematic diagram of the component connection structure according to an embodiment of the manipulation support device of the present invention;

[0090] Fig.47 is Fig.43 Stereogram of the partially enlarged part;

[0091] Fig.48 Stereogram of the component connection structure according to another embodiment of the manipulation support device of the present invention;

[0092] Fig.49 is Fig.48 Stereogram of the shown connection structure in the bent deformation state;

[0093] Fig.50 Top view of the component connection structure according to yet another embodiment of the manipulation support device of the present invention;

[0094] Fig.51 Fig.50 Top view of the shown connection structure in the relative rotation state;

[0095] Fig.52 is Fig.50 Partial sectional view of

[0096] Fig.53 is Fig.51 Partial sectional view of;

[0097] Fig.54 Schematic diagram of the component connection structure according to another embodiment of the manipulation support device of the present invention;

[0098] Fig.55 is Fig.54 Exploded stereogram of the partially enlarged part;

[0099] Fig.56 Stereogram of a manipulation support system according to an embodiment of the present invention;

[0100] Fig.57 is Fig.56 Partially enlarged stereogram of the manipulation support system shown;

[0101] Fig.58 is Fig.56 Top view of the manipulation support system shown;

[0102] Fig.59 is Fig.56 Front view of the manipulation support system shown;

[0103] Fig.60 is Fig.57 Partially sectional stereogram of the manipulation support system shown;

[0104] Fig.61 is Fig.57 Stereogram of the state after partial components of the manipulation support system shown are rotated and displaced in one direction;

[0105] Fig.62 is Fig.57 Stereogram of the state after partial components of the manipulation support system shown are rotated and displaced in another direction.

[0106] Detailed description of specific implementation manners and embodiments

[0107] According to an embodiment, as Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, the present invention provides a manipulation support device 100, including a slender main support rod 110, a secondary support rod 120, a main link 112 and a secondary link 122. The main support rod 110 defines a longitudinal axis 102, and a virtual envelope side surface 104 extending along a direction parallel to the longitudinal axis 102 and defined by the outer diameter 110d of the cross-section of the main support rod 110. The main support rod 110 is located inside the envelope side surface 104, that is, as Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, the main support rod 110 of this embodiment is in the shape of a slender column, for example, in the shape of a slender hollow cylinder, whose outer diameter 110d defines the envelope side surface 104, and the main support rod 110 is entirely within the envelope side surface 104.

[0108] The secondary support rod 120 can be translationally connected to the primary support rod 110. For example, the secondary support rod 120 can be translationally sleeved and connected to the inner bore of the hollow primary support rod 110. The first connecting portion 112a of the primary connecting rod 112 is rotatably connected to the primary support rod 110. The secondary connecting rod 122 has a first end 122a, a second end 122c, and an intermediate portion 122b located between the first end 122a and the second end 122c. The first end 122a of the secondary connecting rod 122 is rotatably connected to the secondary support rod 120, and one of the intermediate portion 122b and the second end 122c of the secondary connecting rod 122, for example Figure 1 , Figure 2 , Figure 3 and Figure 4 the intermediate portion 122b shown is rotatably connected to the second end 112c of the primary connecting rod 120.

[0109] Among them, the translation of the secondary support rod 120 relative to the primary support rod 110 drives the secondary connecting rod 122 to displace between a first position ( Figure 1 , Figure 3 ) and a second position ( Figure 2 , Figure 4 ). In the first position, the primary connecting rod 112 and the secondary connecting rod 122 are located inside the enveloping side surface 104, and the manipulation support device 100 is in a folded state ( Figure 1 , Figure 3 ). In the second position, the second end 112c of the secondary connecting rod 122 and the second end 122c of the secondary connecting rod 122 are located outside the enveloping side surface 104, and the manipulation support device 100 is in an unfolded state ( Figure 2 , Figure 4 ).

[0110] When in the folded state, the manipulation support device 100 is generally in the shape of a slender rod, and the maximum diameter of its cross-section is not greater than the cross-sectional diameter 110d of the primary support rod 110, and it can pass through an opening of a target object with a diameter only slightly larger than the cross-sectional diameter 110d of the primary support rod 110, such as the abdominal cavity opening 18 of the laparoscopic surgery patient 16, so as to carry an operating instrument, such as a surgical clip forceps 190 or other surgical instruments, mounted on the second end 122c of the secondary connecting rod 122, through the opening 18 and into the abdominal cavity of the patient 16 for surgical operations.

[0111] After the surgical clip forceps 190 reaches the surgical site inside the abdominal cavity of the patient 16, the secondary support rod 120 translates relative to the primary support rod 110, for example Figure 4The translational movement in the forward direction 120f as shown drives the secondary link 122 to rotate about the first end 122a relative to the secondary support rod 120 away from the longitudinal axis 102, and at the same time drives the main link 112 to rotate about the first connection portion 112a relative to the main support rod 110 away from the longitudinal axis 102, so that the second end 122c of the secondary link 122 moves outside the envelope side surface 104, that is, the manipulation support device 100 is in the deployed state. The displacement of the second end 122c of the secondary link 122 outside the envelope side surface 104 drives the surgical clamp 190 installed at the second end 122c of the secondary link 122 to change its orientation, providing the required manipulation actions for performing surgical operations.

[0112] After the intraperitoneal surgical operation steps are completed, the reverse translational movement of the secondary support rod 120 relative to the main support rod 110, for example Figure 4 The translational movement in the rear direction 120r as shown drives the secondary link 122 to rotate about the first end 122a towards the direction close to the longitudinal axis 102, and at the same time drives the main link 112 to rotate about the first end 112a towards the direction close to the longitudinal axis 102, so that the second end 122c of the secondary link 122 returns to the inside of the envelope side surface 104, thereby driving the surgical clamp 190 installed at the second end 122c of the secondary link 122 to return to the inside of the envelope side surface 104, that is, restoring the manipulation support device 100 to an elongated rod with a cross-sectional diameter not greater than the cross-sectional diameter 110d of the main support rod 110, that is, smaller than the diameter of the abdominal cavity opening 18. The manipulation support device 100 and the surgical clamp 190 can then be removed from the patient's abdominal cavity through the abdominal cavity opening 18.

[0113] During the displacement process of the main link 112, the secondary link 122 and the surgical clamp 190 between the first position and the second position, the main support rod 110 is inserted and positioned at the opening 18. The translational displacement of the secondary support rod 120 relative to the main support rod 110 is inside the envelope side surface 104. Thus, the manipulation support device 100 can cause the secondary link 122 and the surgical clamp 190 to have a following displacement in a range greater than a predetermined space, for example, a driving displacement in a range greater than the diameter of the opening 18, through the driving displacement of the secondary support rod 120 within a range less than a predetermined space, for example, a driving displacement within a range less than the diameter of the opening 18, thereby achieving the object of the present invention to complete laparoscopic surgery with high functional requirements through a single port.

[0114] According to another embodiment, as Figures 5 to 16As shown, the present invention provides a control support device 200, including a main support rod 210 in an elongated shape, a secondary support rod 220, a auxiliary support rod 230, a main connecting rod 212, a secondary connecting rod 222, an auxiliary connecting rod 232, and a slave connecting rod 242. The main support rod 210 defines a longitudinal axis 202, and a virtual envelope side surface 204 extending along a direction parallel to the longitudinal axis 202 and defined by the outer diameter 210d of the cross-section of the main support rod 210. The main support rod 210 is located inside the envelope side surface 204, that is, as Figure 5 , Figure 6 , Figure 7 and Figure 8 shown, the main support rod 210 of this embodiment is in the shape of an elongated cylinder, such as an elongated hollow cylinder or an elongated straight sleeve or casing shape, its outer diameter 210d defines the virtual envelope side surface 204, and the main support rod 210 is entirely within the envelope side surface 204.

[0115] The secondary support rod 220 is movably connected to the main support rod 210. For example, with the main support rod 210 as a reference, the secondary support rod 220 is movably connected to the main support rod 210. Alternatively, with the secondary support rod 220 as a reference, the main support rod 210 is movably connected to the secondary support rod 220. According to a specific example, the secondary support rod 220 is movably sleeved and connected to the inner bore of the hollow main support rod 210. The first end 212a of the main connecting rod 212 is rotatably connected to the main support rod 210. The secondary connecting rod 222 has a first end 222a, a second end 222c, and an intermediate portion 222b located between the first end and the second end. The secondary connecting rod 222 is rotatably connected to the secondary support rod 220 and the main connecting rod 212 respectively. According to a specific example, the first end 222a of the secondary connecting rod 222 is rotatably connected to the secondary support rod 220, and one of the intermediate portion 222b and the second end 222c of the secondary connecting rod 222, such as Figure 5 shown, the intermediate portion 222b is rotatably connected to the second end 212c of the main connecting rod 212.

[0116] The auxiliary support rod 230 is movably connected to the secondary support rod 220. For example, the auxiliary support rod 230 is movably sleeved and connected to the inner bore of the hollow secondary support rod 220. The first end 232a of the auxiliary connecting rod 232 is rotatably connected to the auxiliary support rod 230. The slave connecting rod 242 has a first end 242a, a second end 242c, and an intermediate portion 242b located between the first end 242a and the second end 242c. The first end 242a of the slave connecting rod 242 is rotatably connected to the second end 222c of the secondary connecting rod 222. One of the intermediate portion 242b and the second end 242c of the slave connecting rod 242, such as Figure 5 shown, the intermediate portion 242b is rotatably connected to the second end 232c of the auxiliary connecting rod 232.

[0117] Among them, the translational movement of the main support rod 210 relative to the secondary support rod 220 drives the secondary connecting rod 222 to rotate relative to the secondary support rod 220, and at the same time drives the main connecting rod 212 to rotate relative to the main support rod 210 and relative to the secondary connecting rod 222, so that the second end 222c of the secondary connecting rod 222 moves from inside the envelope side surface 204 to the outside of the envelope side surface 204 in a direction away from the longitudinal axis 204.

[0118] Independent of the translational movement of the main support rod 210 relative to the secondary support rod 220, the auxiliary support rod 230 can translate relative to the secondary support rod 220. The translational movement of the auxiliary support rod 230 relative to the secondary support rod 220 drives the slave connecting rod 242 to rotate relative to the secondary connecting rod 222 through the auxiliary connecting rod 232, and at the same time drives the slave connecting rod 242 to rotate relative to the auxiliary connecting rod 232.

[0119] The translational movement of the main support rod 210 relative to the secondary support rod 220 drives the secondary connecting rod 222 to displace between a first position ( Figure 5 、 Figure 7 ) and a second position ( Figure 6 、 Figure 8 ). In the first position, the main connecting rod 212, the secondary connecting rod 222, the auxiliary connecting rod 232 and the slave connecting rod 242 are located inside the envelope side surface 204, and the manipulation support device 200 is in a folded state. In the second position, the second end 222c of the secondary connecting rod 222 is located outside the envelope side surface 204, and the manipulation support device 200 is in an unfolded state.

[0120] When in the folded state, as shown in Figure 5 、 Figure 7 and Fig. 9 , the manipulation support device 200 is overall in the shape of a slender rod, and its maximum cross-sectional diameter is not greater than the cross-sectional diameter 210d of the main support rod 210, and it can pass through an opening of a target object with a diameter only slightly larger than the cross-sectional diameter 210d of the main support rod 210, such as the abdominal cavity opening 28 of a laparoscopic surgery patient 26 with an access port, so that it can carry an operating instrument, such as a surgical clamp 290 or other surgical instruments, installed at the second end 242c of the slave connecting rod, and pass through the opening 28 into the abdominal cavity of the patient 26.

[0121] After the surgical clamp 290 reaches the surgical site inside the abdominal cavity of the patient 26, the relative translational movement between the secondary support rod 220 and the main support rod 210, such as the translational movement of the secondary support rod 220 relative to the main support rod 210 in the forward direction 220f with the main support rod 210 as the fixed reference object, and / or the translational movement of the main support rod 210 relative to the secondary support rod 220 in the backward direction 210r with the secondary support rod 220 as the fixed reference object, as shown in Figure 8 and Fig.10 , drives the secondary connecting rod 222 to rotate away from the longitudinal axis 202 relative to the secondary support rod 220, that is, Fig.14The counterclockwise rotation 222n shown in FIG. 2 drives the main connecting rod 212 to rotate relative to the main support rod 210 in a direction away from the longitudinal axis 202, that is, Fig.10 The counterclockwise rotation 212n shown causes the second end 222c of the secondary link 222 to move to the outside of the envelope side surface 204, thereby transforming the control support device 200 into the deployed state. The displacement of the second end 222c of the secondary link 222 between the inside and the outside of the envelope side surface 204 drives the surgical clamp 290 mounted on the slave link 242 to move with respect to the secondary support rod 220 or the main support rod 210 in the first degree of freedom.

[0122] Independent of the relative translation of the secondary support rod 220 and the primary support rod 210, the auxiliary support rod 230 can translate relative to the secondary support rod 220, for example Figure 8 , Fig.10 and Fig.14 The auxiliary support rod 230 translates relative to the secondary support rod 220, and drives the slave link 242 to rotate relative to the secondary link 222 through the auxiliary link 232, and drives the slave link 242 to rotate relative to the auxiliary link 232 in the counterclockwise direction 242n or the clockwise direction 242s, so that the slave link 242 moves relative to the auxiliary support rod 230 when the control support device 200 is in the unfolded state, thereby driving the surgical clamp 290 installed on the slave link 242 to move relative to the secondary link 222 between multiple positions outside the envelope side surface 204, such as Fig.10 , Fig.11 and Fig.12 The displacement between the three positions shown, that is, the surgical clamp 290 moves in the second degree of freedom relative to the secondary support rod 220 or the main support rod 210. The surgical clamp 290 changes its position and orientation in the abdominal cavity through the first and / or second degree of freedom movement as shown above to achieve the surgical operation.

[0123] After the intra-abdominal surgical procedure is completed, the secondary strut 220 moves in the opposite direction relative to the primary strut 210, for example Figure 8 and Fig.15 The translation in the rearward direction 220r shown, and the translation in the opposite direction of the auxiliary support rod 230 relative to the secondary support rod 220, for example Figure 8 and Fig.15 The translational movement in the rearward direction 230r shown drives the main link 212, the secondary link 222 and the auxiliary link 232 to rotate in the direction close to the longitudinal axis 202, and drives the slave link 242 to move in the direction close to the longitudinal axis 202, so that the main link 212, the secondary link 222, the auxiliary link 232 and the slave link 242 return to the inside of the envelope side surface 204, thereby driving the surgical clamp 290 installed on the second end 242c of the slave link 242 to return to the inside of the envelope side surface 204, as shown in FIG. Fig.12As shown, the manipulation support device 200 is about to be restored to an elongated rod with a cross-sectional diameter not greater than the cross-sectional diameter 210d of the main support rod 210, that is, less than the diameter of the abdominal cavity opening 28. The manipulation support device 200 and the surgical clamp 290 can then be removed from the patient's abdominal cavity through the abdominal cavity opening 28.

[0124] During the displacement between the first position and the second position, the main support rod 210 passes through and is positioned at the opening 28. The translational displacement of the secondary support rod 220 relative to the main support rod 210 and the displacement of the auxiliary support rod 230 relative to the secondary support rod 220 are always within the envelope side surface 204. Thus, the manipulation support device 200 can control the following displacements of the main link 212, the secondary link 222, the auxiliary link 232, the slave link 242, and the surgical clamp 290 within a range greater than a predetermined space, with two degrees of freedom of movement, such as within a range greater than the diameter of the opening 28, through the driving displacement of the secondary support rod 220 within a range less than the predetermined space and the driving displacement of the auxiliary support rod 230 relative to the secondary support rod 220 within a range less than the predetermined space, for example, within a range less than the diameter of the opening 18. Thereby, the object of performing laparoscopic surgery with high functional requirements and a large range of manipulation actions through a single port in the present invention is achieved.

[0125] The aforementioned manipulation support device 200 can be used alone or in combination of two or more. In Fig.17 , 18 and Fig.19 In the illustrated example, the main support rods 2110 and 2120 of a pair of manipulation support devices 2100 and 2200 of the aforementioned manipulation support device 200 are arranged adjacent to each other in parallel. In the folded state, as shown in Fig.17 and Fig.19 , the overall dimensions of the manipulation support devices 2100 and 2200 along the cross-section orthogonal to the longitudinal axis are smaller than the abdominal cavity opening 28 of the patient 26. Therefore, the surgical instruments 2190 and 2290 fixed to their respective slave support rods 2142 and 2242 can be carried through the opening 28 into the patient's abdominal cavity. Thereafter, the surgical instruments 2190 and 2290 can change their positions and / or orientations within the patient's abdominal cavity as the manipulation support devices 2100 and 2200 change to the unfolded state ( Fig.18 ), so as to perform surgical operations. After the operation is completed, the manipulation support devices 2100 and 2200 can be restored to the folded state to be withdrawn from the opening 28, thus completing the surgical operation.

[0126] According to another embodiment, as shown in Fig. 20 , Fig.21 and Fig. 22As shown, the present invention provides a manipulation support device 300, including a sleeve-shaped cylindrical support member 301, a first main support rod 3110, a first secondary support rod 3120, a first auxiliary support rod 3130, a first main connecting rod 3112, a first secondary connecting rod 3122, a first auxiliary connecting rod 3132, a first slave connecting rod 3142 in a slender shape, and a second main support rod 3210, a second secondary support rod 3220, a second auxiliary support rod 3230, a second main connecting rod 3212, a second secondary connecting rod 3222, a second auxiliary connecting rod 3232, a second slave connecting rod 3242 in a slender shape.

[0127] The support member 301 has a longitudinal axis 302 passing through its geometric center and defines an envelope side surface 304 with a cylindrical cross-section around the longitudinal axis 302. The first main support rod 3110, the first secondary support rod 3120, the first auxiliary support rod 3130, the first main connecting rod 3112, the first secondary connecting rod 3122, the first auxiliary connecting rod 3132, and the first slave connecting rod 3142 are all rods with an arc-shaped cross-section. The first main support rod 3110, the first secondary support rod 3120, and the first auxiliary support rod 3130 are arranged inside the support member 301 on one side of the longitudinal axis 302. The first main support rod 3110 is fixed to the support member 301 or is connected to the support member 301 translatably along the longitudinal axis 302 relative to the support member 301. The first secondary support rod 3120 is translatably connected to the first main support rod 3110, and the first end 3112a of the first main connecting rod 3112 is rotatably connected to the first main support rod 3110. The first secondary connecting rod 3122 has a first end 3122a, a second end 3122c, and an intermediate portion 3122b located between the first end and the second end. The first end 3122a of the first secondary connecting rod 3122 is rotatably connected to the first secondary support rod 3120, and one of the intermediate portion 3122b and the second end 3122c of the first secondary connecting rod 3122, for example Fig.21 as shown, the intermediate portion 3122b is rotatably connected to the second end 3112c of the first main connecting rod 3122.

[0128] The first auxiliary support rod 3130 is translatably connected to the first secondary support rod 3120. The first end 3132a of the first auxiliary connecting rod 3132 is rotatably connected to the first auxiliary support rod 3130. The first slave connecting rod 3142 has a first end 3142a, a second end 3142c, and an intermediate portion 3142b located between the first end 3142a and the second end 3142c. The first end 3142a of the first slave connecting rod 3142 is rotatably connected to the second end 3122c of the first secondary connecting rod 3122. One of the intermediate portion 3242b and the second end 3142c of the first slave connecting rod 3142, for example Fig.21 as shown, the intermediate portion 3142b of the first slave connecting rod 3142 is rotatably connected to the second end 3132c of the first auxiliary connecting rod 3132.

[0129] The second main support rod 3210, the second secondary support rod 3220, the second auxiliary support rod 3230, the second main connecting rod 3212, the second secondary connecting rod 3222, the second auxiliary connecting rod 3232, and the second slave connecting rod 3242 are all rods with an arc-shaped cross-section, and are connected to the aforementioned first main support rod 3110, the first secondary support rod 3120, the first auxiliary support rod 3130, the first main connecting rod 3112, the first secondary connecting rod 3122, the first auxiliary connecting rod 3132, and the first slave connecting rod 3142 in the same relative positional relationship and structure. The second main support rod 3210, the second secondary support rod 3220, and the second auxiliary support rod 3230 are arranged inside the inner cavity of the support member 301 and are located on the other side of the longitudinal axis 302. The second main support rod 3210 is fixed to the support member 301 or is connected to the support member 301 so as to be translatable relative to the support member 301 along the longitudinal axis 302.

[0130] As Fig.19 shown, the first main support rod 3110, the first secondary support rod 3120, the first auxiliary support rod 3130, the first main connecting rod 3112, the first secondary connecting rod 3122, the first auxiliary connecting rod 3132, and the first slave connecting rod 3142 are located in the first sector area 3101 inside the sleeve-shaped support member 301 in the cross-sectional direction of each rod. The second main support rod 3210, the second secondary support rod 3220, the second auxiliary support rod 3230, the second main connecting rod 3212, the second secondary connecting rod 3222, the second auxiliary connecting rod 3232, and the second slave connecting rod 3242 are located in the second sector area 3201 inside the sleeve-shaped support member 301 in the cross-sectional direction of each rod.

[0131] Among them, the translation of the first secondary support rod 3120 relative to the first main support rod 3110 drives the first secondary connecting rod 3122 to rotate relative to the first secondary support rod 3120. Independent of the translation of the first secondary support rod 3120 relative to the first main support rod 3110, the first auxiliary support rod 3130 can translate relative to the first secondary support rod 3120, that is, translate relative to the first main support rod 3110. The translation of the first auxiliary support rod 3130 relative to the first secondary support rod 3120 drives the first slave connecting rod 3142 to rotate relative to the first secondary connecting rod 3122 through the first auxiliary connecting rod 3132, and at the same time drives the first slave connecting rod 3142 to rotate relative to the first auxiliary connecting rod 3132, so that the first main connecting rod 3112, the first secondary connecting rod 3122, the first auxiliary connecting rod 3132, and the first slave connecting rod 3142 are in the first position ( Fig. 20 ) and the second position ( Fig.21) The displacement between them. In the first position, the first main link 3112, the first secondary link 3122, the first auxiliary link 3132, the first follower link 3142, and the surgical instrument mounted on the first follower link 3142, such as the surgical clamp 3190, are located inside the envelope side surface 304, and the manipulation support device 300 is in a folded state. In the second position, the second end 3112c of the first main link 3112, the second end 3122c of the first secondary link 3122, the second end 3132c of the first auxiliary link 3132, the first follower link 3142, and the surgical clamp 3190 are located outside the envelope side surface 304, and the manipulation support device 300 is in an unfolded state.

[0132] Independently, synchronously, or asynchronously with the above-described mutual displacement of the first main support rod 3110, the first secondary support rod 3120, the first auxiliary support rod 3130, the first main link 3112, the first secondary link 3122, the first auxiliary link 3132, and the first follower link 3142, after the scalpel 3290 mounted on the second follower link 3242 reaches the surgical site inside the abdominal cavity of the patient 26 when the manipulation support device 300 is in a folded state, the second secondary support rod 3220 translates relative to the second main support rod 3210, for example Fig.17 the translation shown in the forward direction 3220f, driving the second secondary link 3222 to rotate about the first end 3222a relative to the second secondary support rod 3220 in a direction away from the longitudinal axis 302, and at the same time driving the second main link 3212 to rotate about the first connection portion 3212a relative to the second main support rod 3210 in a direction away from the longitudinal axis 302, so that the second end 3222c of the second secondary link 3222 moves outside the envelope side surface 304, that is, the manipulation support device 300 is in an unfolded state. The displacement of the second end 3222c of the second secondary link 3222 outside the envelope side surface 304 drives the scalpel 3290 mounted on the second end 3222c of the second secondary link 3222 to change its orientation, and cooperates with the surgical clamp 3190 to perform the surgical operation.

[0133] After the intra-abdominal surgical operation steps are completed, the first secondary support rod 3120 translates in the opposite direction relative to the first main support rod 3110, for example Fig.17 the translation shown in the rearward direction 3120r, driving the first secondary link 3122 to rotate about the first end 3122a in a direction approaching the longitudinal axis 302, and at the same time driving the first main link 3112 to rotate about the first end 3112a in a direction approaching the longitudinal axis 302, so that the second end 3122c of the first secondary link 3122 returns to the inside of the envelope side surface 304, thereby driving the surgical clamp 3190 mounted on the second end 3122c of the first secondary link 3122 to return to the inside of the envelope side surface 404. Independently, synchronously, or asynchronously, the second secondary support rod 3220 translates in the opposite direction relative to the second main support rod 3210, for example Fig.17The translational movement towards the rear direction 3220r as shown drives the second link 3222 to rotate about the first end 3222a towards the direction approaching the longitudinal axis 302, and at the same time drives the second main link 3212 to rotate about the first end 3212a towards the direction approaching the longitudinal axis 302, causing the second end 3122c of the first link 3122 to return to the inside of the enveloping side surface 304, thereby driving the scalpel 3290 mounted on the second end 3122c of the second link 3222 to return to the inside of the enveloping side surface 304. The manipulation support device 300 then returns to the folded state, i.e., a slender rod smaller than the diameter of the abdominal cavity opening 28. The manipulation support device 300 can then be taken out of the patient's abdominal cavity through the abdominal cavity opening 28.

[0134] During the displacement process of the first main link 3112, the first link 3122 and the surgical clamp 3190 between the first position and the second position, and during the displacement process of the second main link 3212, the second link 3222 and the scalpel 4290 between the first position and the second position, the first main support rod 3110, the first support rod 3120, the first auxiliary support rod 3130, the second main support rod 3210, the second support rod 3220 and the second auxiliary support rod 3230 are inserted and positioned at the opening 28. The translational displacement of the first support rod 3120 and the first auxiliary support rod 3130 relative to the first main support rod 3110 is always inside the enveloping side surface 304. At the same time, the translational displacement of the second support rod 3220 and the second auxiliary support rod 3230 relative to the second main support rod 3210 is also always inside the enveloping side surface 304. Thus, the manipulation support device 300 can achieve the following displacement of the surgical clamp 3190 and the scalpel 3290 within a range larger than the predetermined space, such as the lateral displacement within a range larger than the diameter of the opening 28, through the driving displacement of the first support rod 3120, the first auxiliary support rod 3130, the second support rod 3220 and the second auxiliary support rod 3230 within a range smaller than the predetermined space, such as the axial driving displacement within a range smaller than the diameter of the opening 28, thereby achieving the object of the laparoscopic surgery with high functional requirements through a single port in the present invention.

[0135] According to another embodiment, as Figure 23 to Figure 26As shown, the present invention provides a manipulation support device 400, including a cylindrical first main support rod 4110, a first secondary support rod 4120, and a first auxiliary support rod 4130, a partially cylindrical first main connecting rod 4112, a first secondary connecting rod 4122, a first auxiliary connecting rod 4132, a first secondary connecting rod 4142, and a cylindrical second main support rod 4210, a second secondary support rod 4220, a second auxiliary support rod 4230, a partially cylindrical second main connecting rod 4212, a second secondary connecting rod 4222, a second auxiliary connecting rod 4232, and a second secondary connecting rod 4242. The first main support rod 4110 defines a longitudinal axis 402 and a virtual envelope side surface 404 extending in a direction parallel to the longitudinal axis 402 and defined by the outer diameter 4110d of the cross-section of the first main support rod 4110. The first main support rod 4110 is located inside the envelope side surface 404. As Fig. 20 , Fig.21 , Fig. 22 and Fig.23 shown, the first main support rod 4110 of this embodiment is cylindrical, such as a cylindrical column, and its outer diameter 4110d defines the virtual envelope side surface 404, and the entire first main support rod 4110 is inside the envelope side surface 404.

[0136] The first secondary support rod 4120 can be translationally connected to the first main support rod 4110. For example, the first secondary support rod 4120 can be translationally sleeved and connected inside the first main support rod 4110. The first end 4112a of the first main connecting rod 4112 is rotatably connected to the first main support rod 4110. The first secondary connecting rod 4122 has a first end 4122a, a second end 4122c, and an intermediate portion 4122b located between the first end 4122a and the second end 4122c. The first end 4122a of the first secondary connecting rod 4122 is rotatably connected to the first secondary support rod 4120, and one of the intermediate portion 4122b and the second end 4122c of the first secondary connecting rod 4122, such as Fig. 20 , Fig.21 , Fig. 22 and Fig.23 shown, the intermediate portion 4122b of the first secondary connecting rod 4122 is rotatably connected to the second end 4112c of the first main connecting rod 4120.

[0137] The first auxiliary support rod 4130 can be translationally connected to the first secondary support rod 4120. For example, the first auxiliary support rod 4130 can be translationally sleeved and connected to the inner cavity of the cylindrical first secondary support rod 4120. The first end 4132a of the first auxiliary connecting rod 4132 is rotatably connected to the first auxiliary support rod 4130. The first secondary connecting rod 4142 has a first end 4142a, a second end 4142c, and an intermediate portion 4142b located between the first end 4142a and the second end 4142c. The first end 4142a of the first secondary connecting rod 4142 is rotatably connected to the second end 4122c of the first secondary connecting rod 4122. One of the intermediate portion 4142b and the second end 4142c of the first secondary connecting rod 4142, for example Fig. 20 , Fig.21 , Fig. 22 and Fig.23 as shown in, the intermediate portion 4142b of the first secondary connecting rod 4142 is rotatably connected to the second end 4132c of the first auxiliary connecting rod 4132.

[0138] The translation of the first secondary support rod 4120 relative to the first main support rod 4110 drives the first secondary connecting rod 4122 to rotate relative to the first secondary support rod 4120. Independent of the translation of the first secondary support rod 4120 relative to the first main support rod 4110, the first auxiliary support rod 4130 can translate relative to the first secondary support rod 4120. The translation of the first auxiliary support rod 4130 relative to the first secondary support rod 4120 drives the first secondary connecting rod 4142 to rotate relative to the first secondary connecting rod 4122 through the first auxiliary connecting rod 4132, and at the same time drives the first secondary connecting rod 4142 to rotate relative to the first auxiliary connecting rod 4132, so that the first main connecting rod 4112, the first secondary connecting rod 4122, the first auxiliary connecting rod 4132, and the first secondary connecting rod 4142 are in the first position ( Fig.23 )) and the second position ( Fig.23 , Fig.24 ) to displace.

[0139] The second main support rod 4210 can be translationally sleeved on the first auxiliary support rod 4130. For example, the second main support rod 4210 can be translationally sleeved inside the first auxiliary support rod 4130. The second secondary support rod 4220 can be translationally connected to the second main support rod 4210. For example, the second secondary support rod 4220 can be translationally sleeved and connected inside the second main support rod 4210. The second end 4212a of the second main connecting rod 4212 is rotatably connected to the second main support rod 4210. The second secondary connecting rod 4222 has a first end 4222a, a second end 4222c, and an intermediate portion 4222b located between the first end 4222a and the second end 4222c. The second end 4222a of the second secondary connecting rod 4222 is rotatably connected to the second secondary support rod 4220. One of the intermediate portion 4222b and the second end 4222c of the second secondary connecting rod 4222, for example Fig. 20 , Fig.21 , Fig. 22and Fig.23 As shown, the middle part 4222b of the second link 4222 is rotatably connected to the second end 4212c of the second main link 4212.

[0140] The second auxiliary support rod 4230 is translationally connected to the second secondary rod 4220. For example, the second auxiliary support rod 4230 is translationally sleeved and connected to the inner cavity of the cylindrical second secondary rod 4220. The first end 4232a of the second auxiliary link 4232 is rotatably connected to the second auxiliary support rod 4230. The second secondary link 4242 has a first end 4242a, a second end 4242c, and a middle part 4242b located between the first end 4242a and the second end 4242c. The first end 4242a of the second secondary link 4242 is rotatably connected to the second end 4122c of the second link 4222. One of the middle part 4242b and the second end 4242c of the second secondary link 4242, such as Fig.23 , Fig.24 , Fig.25 and Fig.26 As shown, the middle part 4242b of the second secondary link 4242 is rotatably connected to the second end 4232c of the second auxiliary link 4232.

[0141] The translation of the second secondary rod 4220 relative to the second main rod 4210 drives the second link 4222 to rotate relative to the second secondary rod 4220. Independently of the translation of the second secondary rod 4220 relative to the second main rod 4210, the second auxiliary support rod 4230 can translate relative to the second secondary rod 4220. The translation of the second auxiliary support rod 4230 relative to the second secondary rod 4220 drives the second secondary link 4242 to rotate relative to the second link 4222 through the second auxiliary link 4232, and at the same time drives the second secondary link 4242 to rotate relative to the second auxiliary link 4232, so that the second main link 4212, the second link 4222, the second auxiliary link 4232, and the second secondary link 4242 are displaced between the first position ( Fig.26 ) and the second position ( Fig.23 , Fig.24 ).

[0142] In the first position, the second ends 4112c of the first main link 4112, the second ends 4122c of the first secondary link 4122, the second ends 4132c of the first auxiliary link 4132, and the first secondary link 4142, and the second main link 4212, the second secondary link 4222, the second auxiliary link 4232, and the second secondary link 4242 of the second main support rod 4210, the second secondary support rod 4220, and the second auxiliary support rod 4230 are all located inside the enveloping side surface 404, and the manipulation support device 400 is in a folded state. In the second position, the second ends 4112c of the first main link 4112, the second ends 4122c of the first secondary link 4122, the second ends 4132c of the first auxiliary link 4132, and the first secondary link 4142 are located outside the enveloping side surface 404. The second ends 4212c of the second main link 4212, the second ends 4222c of the second secondary link 4222, the second ends 4232c of the second auxiliary link 4232, and the second secondary link 4242 are located outside the enveloping side surface 404. The manipulation support device 400 is in an unfolded state.

[0143] In the folded state, the manipulation support device 400 is in the shape of an elongated rod, and the overall cross-sectional diameter thereof is not greater than the cross-sectional diameter 4110d of the first main support rod 4110, and it can pass through an opening of a target object whose diameter is only slightly larger than the cross-sectional diameter 4110d of the first main support rod 4110, such as the abdominal cavity opening 28 of a laparoscopic surgery patient 26 with an access port, so that it can carry operating instruments respectively mounted at the second ends 4122c of the first secondary link 4122 and the second ends 4222c of the second secondary link 4222, such as a surgical clip forceps 4190 and a surgical knife 4290, through the opening 28 into the abdominal cavity of the patient 26 to perform surgical operations.

[0144] After the surgical clip forceps 4190 and the surgical knife 4290 reach the surgical site inside the abdominal cavity of the patient 26, the first support rod 4120 translates relative to the first main support rod 4110, for example Fig.21 the translation shown in the forward direction 4120f, driving the first secondary link 4122 to rotate about the first end 4122a relative to the first support rod 4120 in a direction away from the longitudinal axis 402, and at the same time driving the first main link 4112 to rotate about the first connection portion 4112a relative to the first main support rod 4110 in a direction away from the longitudinal axis 402, so that the second end 4122c of the first secondary link 4122 moves to the outside of the enveloping side surface 404, that is, the manipulation support device 400 is in an unfolded state. The displacement of the second end 4122c of the first secondary link 4122 to the outside of the enveloping side surface 404 drives the surgical clip forceps 4190 mounted on the first secondary link 4142 to change its orientation, realizing the surgical operation.

[0145] Independently, synchronously, or asynchronously with the above displacements of the first support rod 4120, the first auxiliary support rod 4130, the first main connecting rod 4112, the first secondary connecting rod 4122, the first auxiliary connecting rod 4132, and the first slave connecting rod 4142, the second support rod 4220 translates relative to the second main support rod 4210, for example Fig.21 the translation shown in the forward direction 4220f, drives the second secondary connecting rod 4222 to rotate about the first end 4222a relative to the second support rod 4220 in a direction away from the longitudinal axis 402, and at the same time drives the second main connecting rod 4212 to rotate about the first connecting portion 4212a relative to the second main support rod 4210 in a direction away from the longitudinal axis 402, so that the second end 4222c of the second secondary connecting rod 4222 moves outside the enveloping side surface 404, that is, the manipulation support device 400 is in an unfolded state. The displacement of the second end 4222c of the second secondary connecting rod 4222 outside the enveloping side surface 404 drives the scalpel 4290 mounted on the second slave connecting rod 4242 to change its orientation, and cooperates with the surgical clamp 4190 to perform a surgical operation.

[0146] After the intraperitoneal surgical operation steps are completed, the first support rod 4120 translates in the opposite direction relative to the first main support rod 4110, for example Fig.21 the translation shown in the rearward direction 4120r drives the first secondary connecting rod 4122 to rotate about the first end 4122a in a direction approaching the longitudinal axis 402, and at the same time drives the first main connecting rod 4112 to rotate about the first end 4112a in a direction approaching the longitudinal axis 402, so that the second end 4122c of the first secondary connecting rod 4122 returns inside the enveloping side surface 404, thereby driving the surgical clamp 4190 mounted on the second end 4122c of the first secondary connecting rod 4122 to return inside the enveloping side surface 404. Independently, synchronously, or asynchronously, the second support rod 4220 translates in the opposite direction relative to the second main support rod 4210, for example Fig.21 the translation shown in the rearward direction 4220r drives the second secondary connecting rod 4222 to rotate about the first end 4222a in a direction approaching the longitudinal axis 402, and at the same time drives the second main connecting rod 4212 to rotate about the first end 4212a in a direction approaching the longitudinal axis 402, so that the second end 4122c of the first secondary connecting rod 4122 returns inside the enveloping side surface 404, thereby driving the scalpel 4290 mounted on the second end 4122c of the second secondary connecting rod 4222 to return inside the enveloping side surface 404. The manipulation support device 400 is restored to the folded state, that is, the overall structure is a slender rod smaller than the diameter of the abdominal cavity opening 28. The manipulation support device 400 can then be taken out of the patient's abdominal cavity through the opening 28.

[0147] During the displacement process of the first main connecting rod 4112, the first secondary connecting rod 4122, and the surgical clamp 4190 between the first position and the second position, and during the displacement process of the second main connecting rod 4212, the second secondary connecting rod 4222, and the surgical scalpel 4290 between the first position and the second position, the first main support rod 4110, the first secondary support rod 4120, the first auxiliary support rod 4130, the second main support rod 4210, the second secondary support rod 4220, and the second auxiliary support rod 4230 are inserted and positioned in the opening 28. The translational displacement of the first secondary support rod 4120 and the first auxiliary support rod 4130 relative to the first main support rod 4110 is always inside the envelope side surface 404. At the same time, the translational displacement of the second secondary support rod 4220 and the second auxiliary support rod 4230 relative to the second main support rod 4210 is also always inside the envelope side surface 404. Thus, the manipulation support device 400 can achieve the following displacement of the surgical clamp 4190 and the surgical scalpel 4290 within a range greater than a predetermined space, such as a lateral displacement within a range greater than the diameter of the opening 28, through the driving displacement of the first secondary support rod 4120, the first auxiliary support rod 4130, the second secondary support rod 4220, and the second auxiliary support rod 4230 within a range less than the predetermined space, such as an axial driving displacement within a range less than the diameter of the opening 28, thereby achieving the object of performing laparoscopic surgery with high functional requirements through a single port in the present invention.

[0148] According to another embodiment, as Figures 27 to 39 shown, the present invention provides a manipulation support device 500, which includes a sleeve-shaped cylindrical base 501, slender-shaped first main support rod 5110, first secondary support rod 5120, first auxiliary support rod 5130, first main connecting rod 5112, first secondary connecting rod 5122, first auxiliary connecting rod 5132, first secondary connecting rod 5142, slender-shaped second main support rod 5210, second secondary support rod 5220, second auxiliary support rod 5230, second main connecting rod 5212, second secondary connecting rod 5222, second auxiliary connecting rod 5232, second secondary connecting rod 5242, and slender-shaped third main support rod 5310, third secondary support rod 5320, third auxiliary support rod 5330, third main connecting rod 5312, third secondary connecting rod 5322, third auxiliary connecting rod 5332, third secondary connecting rod 5342.

[0149] The base 501 has a longitudinal axis 502 passing through its geometric center and defines an envelope side surface 504 with a cylindrical cross-section surrounding the longitudinal axis 502. The first main support rod 5110, the first secondary support rod 5120, the first auxiliary support rod 5130, the first main connecting rod 5112, the first secondary connecting rod 5122, the first auxiliary connecting rod 5132, and the first secondary connecting rod 5142 are all rods with an arcuate cross-section. The first main support rod 5110, the first secondary support rod 5120, and the first auxiliary support rod 5130 are arranged in the first sector space 5101 of the inner cavity of the base 501.

[0150] The first main support rod 5110 is fixed to the base 501 or is connected to the base 501 translatably along the longitudinal axis 502 relative to the base 501. The first secondary support rod 5120 is connected to the first main support rod 5110 translatably. The first end 5112a of the first main connecting rod 5112 is rotatably connected to the first main support rod 5110. The first secondary connecting rod 5122 has a first end 5122a, a second end 5122c, and an intermediate portion 5122b located between the first end and the second end. The first end 5122a of the first secondary connecting rod 5122 is rotatably connected to the first secondary support rod 5120. One of the intermediate portion 5122b and the second end 5122c of the first secondary connecting rod 5122, for example Fig.31 as shown, the intermediate portion 5122b is rotatably connected to the second end 5112c of the first main connecting rod 5112.

[0151] The first auxiliary support rod 5130 is connected to the first secondary support rod 5120 translatably. The first end 5132a of the first auxiliary connecting rod 5132 is rotatably connected to the first auxiliary support rod 5130. The first secondary connecting rod 5142 has a first end 5142a, a second end 5142c, and an intermediate portion 5142b located between the first end 5142a and the second end 5142c. The first end 5142a of the first secondary connecting rod 5142 is rotatably connected to the second end 5122c of the first secondary connecting rod 5122. One of the intermediate portion 5242b and the second end 5142c of the first secondary connecting rod 5142, for example Fig.31 as shown, the intermediate portion 5142b of the first secondary connecting rod 5142 is rotatably connected to the second end 5132c of the first auxiliary connecting rod 5132.

[0152] As Fig.32 shown, the second main support rod 5210, the second secondary support rod 5220, the second auxiliary support rod 5230, the second main connecting rod 5212, the second secondary connecting rod 5222, the second auxiliary connecting rod 5232, and the second secondary connecting rod 5242 are all rods with an arc-shaped cross-section, and are connected according to the same relative position relationship and structure as the aforementioned first main support rod 5110, the first secondary support rod 5120, the first auxiliary support rod 5130, the first main connecting rod 5112, the first secondary connecting rod 5122, the first auxiliary connecting rod 5132, and the first secondary connecting rod 5142. The second main support rod 5210, the second secondary support rod 5220, and the second auxiliary support rod 5230 are arranged inside the inner cavity of the base 501. The second main support rod 5210 is fixed to the base 501 or is connected to the base 501 translatably along the longitudinal axis 502 relative to the base 501.

[0153] As Fig.31As shown, the third main support rod 5310, the third secondary support rod 5320, the third auxiliary support rod 5330, the third main connecting rod 5312, the third secondary connecting rod 5322, the third auxiliary connecting rod 5332, and the third slave connecting rod 5342 are all rods with an arc-shaped cross-section, and are connected in the same relative positional relationship and structure as the aforementioned first main support rod 5110, the first secondary support rod 5120, the first auxiliary support rod 5130, the first main connecting rod 5112, the first secondary connecting rod 5122, the first auxiliary connecting rod 5132, and the first slave connecting rod 5142. The third main support rod 5310, the third secondary support rod 5320, and the third auxiliary support rod 5330 are arranged in the inner cavity of the base 501. The third main support rod 5310 is fixed to the base 501, or is connected to the base 501 in a translatable manner along the longitudinal axis 502 relative to the base 501.

[0154] The first main support rod 5110, the first secondary support rod 5120, and the first auxiliary support rod 5130 are located in the first sector region 5101 within the sleeve-shaped support member 501 in the cross-sectional direction of each rod. The second main support rod 5210, the second secondary support rod 5220, and the second auxiliary support rod 5230 are located in the second sector region 5201 within the sleeve-shaped base 501 in the cross-sectional direction of each rod. The third main support rod 5310, the third secondary support rod 5320, and the third auxiliary support rod 5330 are located in the third sector region 5301 within the sleeve-shaped base 501 in the cross-sectional direction of each rod.

[0155] The translation of the first secondary support rod 5120 relative to the first main support rod 5110 drives the rotation of the first secondary connecting rod 5122 relative to the first secondary support rod 5120. Independently of the translation of the first secondary support rod 5120 relative to the first main support rod 5110, the first auxiliary support rod 5130 can translate relative to the first secondary support rod 5120, that is, translate relative to the first main support rod 5110. The translation of the first auxiliary support rod 5130 relative to the first secondary support rod 5120 drives the rotation of the first slave connecting rod 5142 relative to the first secondary connecting rod 5122 through the first auxiliary connecting rod 5132, and at the same time drives the rotation of the first slave connecting rod 5142 relative to the first auxiliary connecting rod 5132, so that the first main connecting rod 5112, the first secondary connecting rod 5122, the first auxiliary connecting rod 5132, and the first slave connecting rod 5142 are in the first position ( Fig. 27 , 30 ) and the second position ( Fig.28 , Fig.29 , Fig.31 ) for displacement.

[0156] Independently, synchronously or asynchronously with respect to the translational movement of the first secondary rod 5120 relative to the first main rod 5110, the second secondary rod 5220 can translate relative to the second main rod 5210, thereby driving the second connecting rod 5222 to rotate relative to the second secondary rod 5220. Independently of the translational movement of the second secondary rod 5220 relative to the second main rod 5210, the second auxiliary rod 5230 can translate relative to the second secondary rod 5220, that is, translate relative to the second main rod 5210. The translational movement of the second auxiliary rod 5230 relative to the second secondary rod 5220 drives the second secondary connecting rod 5242 to rotate relative to the second connecting rod 5222 through the second auxiliary connecting rod 5232, and at the same time drives the second secondary connecting rod 5242 to rotate relative to the second auxiliary connecting rod 5232, so that the second main connecting rod 5212, the second connecting rod 5222, the second auxiliary connecting rod 5232 and the second secondary connecting rod 5242 are displaced between the first position ( Fig. 27 , 30 ) and the second position ( Fig.28 , Fig.29 , Fig.31 ).

[0157] Independently, synchronously or asynchronously with respect to the translational movement of the first secondary rod 5120 relative to the first main rod 5110 and / or with respect to the translational movement of the second secondary rod 5220 relative to the second main rod 5210, the third secondary rod 5320 can translate relative to the third main rod 5310, thereby driving the third connecting rod 5322 to rotate relative to the third secondary rod 5320. Independently of the translational movement of the third secondary rod 5320 relative to the third main rod 5310, the third auxiliary rod 5330 can translate relative to the third secondary rod 5320, that is, translate relative to the third main rod 5310. The translational movement of the third auxiliary rod 5330 relative to the third secondary rod 5320 drives the third secondary connecting rod 5342 to rotate relative to the third connecting rod 5322 through the third auxiliary connecting rod 5332, and at the same time drives the third secondary connecting rod 5342 to rotate relative to the third auxiliary connecting rod 5332, so that the third main connecting rod 5312, the third connecting rod 5322, the third auxiliary connecting rod 5332 and the third secondary connecting rod 5342 are displaced between the first position ( Fig. 27 , 30 ) and the second position ( Fig.28 , Fig.29 , Fig.31 ).

[0158] In the first position, the first main link 5112, the first secondary link 5122, the first auxiliary link 5132, the first slave link 5142, and the surgical clamp 5190 mounted on the first slave link 5142 are all located inside the envelope side surface 304. At the same time, the second main link 5212, the second secondary link 5222, the second auxiliary link 5232, the second slave link 5242, and the surgical scalpel 5290 mounted on the second slave link 5242 are all located inside the envelope side surface 304. The third main link 5312, the third secondary link 5322, the third auxiliary link 5332, the third slave link 5342, and the surgical needle 5390 mounted on the third slave link 5342 are all located inside the envelope side surface 304. The manipulation support device 500 is in a folded state, as Fig. 27 shown.

[0159] In the second position, the second end 5112c of the first main link 5112, the second end 5122c of the first secondary link 5122, the second end 5132c of the first auxiliary link 5132, the first slave link 5142, and the surgical clamp 5190 are located outside the envelope side surface 504. The second end 5212c of the second main link 5212, the second end 5222c of the second secondary link 5222, the second end 5232c of the second auxiliary link 5232, the second slave link 5242, and the surgical scalpel 5290 are located outside the envelope side surface 504. The second end 5112c of the third main link 5312, the second end 5122c of the third secondary link 5322, the second end 5132c of the third auxiliary link 5332, the third slave link 5342, and the surgical needle 5390 are located outside the envelope side surface 504. The manipulation support device 500 is in an unfolded state, as Fig.28 shown.

[0160] In the folded state, the manipulation support device 500 is in the shape of a slender rod, and its overall cross-sectional diameter is not greater than the cross-sectional diameter 5110d of the first main support rod 5110. It can pass through an opening of a target object with a diameter only slightly larger than the cross-sectional diameter 5110d of the first main support rod 5110, such as the abdominal cavity opening 28 of the laparoscopic surgery patient 26 with an access port. Thus, it can carry the surgical clamp 5190 mounted on the second end 5142c of the first slave link 5142, the surgical scalpel 5290 mounted on the second end 5242c of the second slave link 5242, and the surgical needle 5390 mounted on the second end 5342c of the third slave link 5342 through the opening 28 and enter the abdominal cavity of the patient 26 for surgical operations.

[0161] After the surgical clamp 5190, the surgical scalpel 5290, and the surgical needle 5390 reach the surgical site in the abdominal cavity of the patient 26 through the opening 28 when the manipulation support device 500 is in the folded state, the first support rod 5120 translates relative to the first main support rod 5110, for example Fig.36The translational motion towards the forward direction 5120f as shown drives the first link 5122 to rotate relative to the first support rod 5120 away from the longitudinal axis 502, and at the same time drives the first main link 5112 to rotate relative to the first main support rod 5110 away from the longitudinal axis 502, causing the second end 5122c of the first link 5122 to move outside the enveloping side surface 504. The displacement of the second end 5122c of the first link 5122 outside the enveloping side surface 504 drives the surgical clamp 5190 mounted on the first secondary link 5142 to change its orientation, realizing the surgical operation.

[0162] Independently, synchronously or asynchronously with the above displacements of the first support rod 5120, the first auxiliary support rod 5130, the first main link 5112, the first link 5122, the first auxiliary link 5132 and the first secondary link 5142, the second support rod 5220 translates relative to the second main support rod 5210, for example Fig.34 and Fig.37 The translational motion towards the forward direction 5220f as shown drives the second link 5222 to rotate relative to the second support rod 5220 away from the longitudinal axis 502, and at the same time drives the second main link 5212 to rotate relative to the second main support rod 5210 away from the longitudinal axis 502, causing the second end 5222c of the second link 5222 to move outside the enveloping side surface 504. The displacement of the second end 5222c of the second link 5222 outside the enveloping side surface 504 drives the scalpel 5290 mounted on the second secondary link 5242 to change its orientation, cooperating with the surgical clamp 5190 to realize the surgical operation.

[0163] Independently, synchronously or asynchronously with the translation of the first support rod 5120 relative to the first main support rod 5110 and / or with the translation of the second support rod 5220 relative to the second main support rod 5210, the third support rod 5320 translates relative to the third main support rod 5310, for example Fig.38 The translational motion towards the forward direction 5320f as shown drives the third link 5322 to rotate relative to the third support rod 5320 away from the longitudinal axis 502, and at the same time drives the third main link 5312 to rotate relative to the third main support rod 5310 away from the longitudinal axis 502, causing the second end 5322c of the third link 5322 to move outside the enveloping side surface 504. The displacement of the second end 5322c of the third link 5322 outside the enveloping side surface 504 drives the surgical needle 5390 mounted on the third secondary link 5342 to change its orientation, cooperating with the surgical clamp 5190 and / or the scalpel 5290 to realize the surgical operation.

[0164] After the intraperitoneal surgical operation steps are completed, the first support rod 5120 translates in the opposite direction relative to the first main support rod 5110, for example Fig.36The translational movement towards the rear direction 5120r as shown drives the first link 5122 to rotate towards the direction approaching the longitudinal axis 502, and at the same time drives the first main link 5112 to rotate towards the direction approaching the longitudinal axis 502, causing the second end 5122c of the first link 5122 to return to the inside of the enveloping side surface 504, thereby driving the surgical clamp 5190 to return to the inside of the enveloping side surface 504. Similarly, the translational movement of the second sub-bar 5220 in the opposite direction with respect to the second main sub-bar 5210, for example Fig.34 and Fig.37 The translational movement towards the rear direction 5220r as shown drives the second link 5222 to rotate towards the direction approaching the longitudinal axis 502, and at the same time drives the second main link 5212 to rotate towards the direction approaching the longitudinal axis 502, causing the second end 5222c of the second link 5222 to return to the inside of the enveloping side surface 504, thereby driving the scalpel 5290 mounted on the second end 5222c of the second link 5222 to return to the inside of the enveloping side surface 504. Similarly, the translational movement of the third sub-bar 5320 in the opposite direction with respect to the third main sub-bar 5310, for example Fig.38 The translational movement towards the rear direction 5320r as shown drives the third link 5322 to rotate towards the direction approaching the longitudinal axis 502, and at the same time drives the third main link 5312 to rotate towards the direction approaching the longitudinal axis 502, causing the second end 5322c of the third link 5322 to return to the inside of the enveloping side surface 504, thereby driving the surgical needle 5390 mounted on the second end 5222c of the third link 5322 to return to the inside of the enveloping side surface 504. Thus, the manipulation support device 500 is restored to the folded state, that is, an elongated rod with an overall structure smaller than the diameter of the abdominal cavity opening 28. The manipulation support device 500 can then be taken out from the patient's abdominal cavity through the opening 28.

[0165] During the displacement process of the first main link 5112, the first link 5122 and the surgical clamp 5190 between the first position and the second position, during the displacement process of the second main link 5212, the second link 5222 and the scalpel 5290 between the first position and the second position, and during the displacement process of the third main link 5312, the third link 5322 and the surgical needle 5390 between the first position and the second position, the first main sub-bar 5110, the first sub-bar 5120, the first auxiliary sub-bar 5130,

[0166] The second main support rod 5210, the second secondary support rod 5220, the second auxiliary support rod 5230, the third main support rod 5310, the third secondary support rod 5320, and the third auxiliary support rod 5330 are inserted and positioned at the opening 28. The translational displacement of the first secondary support rod 5120 and the first auxiliary support rod 5130 relative to the first main support rod 5110 is always inside the envelope side surface 504. At the same time, the translational displacement of the second secondary support rod 5220 and the second auxiliary support rod 5230 relative to the second main support rod 5210 is also always inside the envelope side surface 504, and the translational displacement of the third secondary support rod 5320 and the third auxiliary support rod 5330 relative to the third main support rod 5310 is also always inside the envelope side surface 504. Thus, the manipulation support device 500 can achieve the following displacement of the surgical clamp 5190, the scalpel 5290, and the surgical needle 5390 within a range greater than the predetermined space, such as the lateral displacement within a range greater than the diameter of the opening 28, through the driving displacements of the first secondary support rod 5120, the first auxiliary support rod 5130, the second secondary support rod 5220, the second auxiliary support rod 5230, the third secondary support rod 5320, and the third auxiliary support rod 5330 within a range less than the predetermined space, such as the axial driving displacement within a range less than the diameter of the opening 28, so as to achieve the object of the laparoscopic surgery with high functional requirements through a single port in the present invention.

[0167] According to another embodiment, as Figures 40 to 45 shown, the present invention provides a manipulation support device 600, which includes an elongate first main support rod 6110, a first secondary support rod 6120, a first auxiliary support rod 6130, a first main connecting rod 6112, a first secondary connecting rod 6122, a first auxiliary connecting rod 6132, and a first slave connecting rod 6142, an elongate second main support rod 6210, a second secondary support rod 6220, a second auxiliary support rod 6230, a second main connecting rod 6212, a second secondary connecting rod 6222, a second auxiliary connecting rod 6232, and a second slave connecting rod 6242, and a cylindrical third main support rod 6310, a third secondary support rod 6320, a third auxiliary support rod 6330, a partially cylindrical third main connecting rod 6312, a third secondary connecting rod 6322, a third auxiliary connecting rod 6332, and a third slave connecting rod 6342.

[0168] The third main support rod 6310 has a longitudinal axis 602 passing through its geometric center and defines an enveloping side surface 604 that is cylindrical in cross-section and surrounds the longitudinal axis 602. The first main support rod 6110, the first secondary support rod 6120, the first auxiliary support rod 6130, the first main connecting rod 6112, the first secondary connecting rod 6122, the first auxiliary connecting rod 6132, and the first slave connecting rod 6142 are all rods with an arcuate cross-section. The first main support rod 6110, the first secondary support rod 6120, and the first auxiliary support rod 6130 are arranged inside the third auxiliary support rod 6330 and on one side of the longitudinal axis 602. The first main support rod 6110 is fixed to the third auxiliary support rod 6330 or is translationally connected to the third auxiliary support rod 6330 relative to the longitudinal axis 602. The first secondary support rod 6120 is translationally connected to the first main support rod 6110, and the first end 6112a of the first main connecting rod 6112 is rotatably connected to the first main support rod 6110. The first secondary connecting rod 6122 has a first end 6122a, a second end 6122c, and an intermediate portion 6122b located between the first end and the second end. The first end 6122a of the first secondary connecting rod 6122 is rotatably connected to the first secondary support rod 6120, and one of the intermediate portion 6122b and the second end 6122c of the first secondary connecting rod 6122, for example Fig.48 as shown, the intermediate portion 6122b is rotatably connected to the second end 6112c of the first main connecting rod 6112.

[0169] The first auxiliary support rod 6130 is translationally connected to the first secondary support rod 6120. The first end 6132a of the first auxiliary connecting rod 6132 is rotatably connected to the first auxiliary support rod 6130. The first slave connecting rod 6142 has a first end 6142a, a second end 6142c, and an intermediate portion 6142b located between the first end 6142a and the second end 6142c. The first end 6142a of the first slave connecting rod 6142 is rotatably connected to the second end 6122c of the first secondary connecting rod 6122. One of the intermediate portion 6242b and the second end 6142c of the first slave connecting rod 6142, for example Fig.45 as shown, the intermediate portion 6142b of the first slave connecting rod 6142 is rotatably connected to the second end 6132c of the first auxiliary connecting rod 6132.

[0170] The second main support rod 6210, the second secondary support rod 6220, the second auxiliary support rod 6230, the second main connecting rod 6212, the second secondary connecting rod 6222, the second auxiliary connecting rod 6232, and the second slave connecting rod 6242 are all rods with an arc-shaped cross-section, and are connected to the aforementioned first main support rod 6110, the first secondary support rod 6120, the first auxiliary support rod 6130, the first main connecting rod 6112, the first secondary connecting rod 6122, the first auxiliary connecting rod 6132, and the first slave connecting rod 6142 in the same relative position relationship and structure. The second main support rod 6210, the second secondary support rod 6220, and the second auxiliary support rod 6230 are arranged in the inner cavity of the third auxiliary support rod 6330, on the other side of the longitudinal axis 602. The second main support rod 6210 is fixed to the third auxiliary support rod 6330, or is connected to the third auxiliary support rod 6330 so as to be translatable relative to the third auxiliary support rod 6330 along the longitudinal axis 602.

[0171] As Fig.45 shown, the first main support rod 6110, the first secondary support rod 6120, the first auxiliary support rod 6130, the first main connecting rod 6112, the first secondary connecting rod 6122, the first auxiliary connecting rod 6132, and the first slave connecting rod 6142 are located in the first sector region 6101 within the third auxiliary support rod 6330 in the cross-sectional direction of each rod. The second main support rod 6210, the second secondary support rod 6220, the second auxiliary support rod 6230, the second main connecting rod 6212, the second secondary connecting rod 6222, the second auxiliary connecting rod 6232, and the second slave connecting rod 6242 are located in the second sector region 6201 within the third auxiliary support rod 6330 in the cross-sectional direction of each rod.

[0172] Among them, the translation of the first secondary support rod 6120 relative to the first main support rod 6110 drives the first secondary connecting rod 6122 to rotate relative to the first secondary support rod 6120. Independent of the translation of the first secondary support rod 6120 relative to the first main support rod 6110, the first auxiliary support rod 6130 can translate relative to the first secondary support rod 6120, that is, translate relative to the first main support rod 6110. The translation of the first auxiliary support rod 6130 relative to the first secondary support rod 6120 drives the first slave connecting rod 6142 to rotate relative to the first secondary connecting rod 6122 through the first auxiliary connecting rod 6132, and at the same time drives the first slave connecting rod 6142 to rotate relative to the first auxiliary connecting rod 6132, so that the first main connecting rod 6112, the first secondary connecting rod 6122, the first auxiliary connecting rod 6132, and the first slave connecting rod 6142 are in the first position ( Fig.40 ) and the second position ( Fig.41) The displacement between them. In the first position, the first main link 6112, the first secondary link 6122, the first auxiliary link 6132, the first follower link 6142, and the surgical instrument mounted on the first follower link 6142, such as the surgical clamp 6190, are located inside the envelope side surface 604. In the second position, the second end 6112c of the first main link 6112, the second end 6122c of the first secondary link 6122, the second end 6132c of the first auxiliary link 6132, the first follower link 6142, and the surgical clamp 6190 are located outside the envelope side surface 604.

[0173] Independently, synchronously, or asynchronously with the above-mentioned mutual displacements of the first main strut 6110, the first secondary strut 6120, the first auxiliary strut 6130, the first main link 6112, the first secondary link 6122, the first auxiliary link 6132, and the first follower link 6142, the second secondary strut 6220 translates relative to the second main strut 6210, for example Fig.48 The translation shown in the forward direction 6220f drives the second secondary link 6222 to rotate away from the longitudinal axis 602 relative to the second secondary strut 6220, and at the same time drives the second main link 6212 to rotate away from the longitudinal axis 602 relative to the second main strut 3210, so that the second end 6222c of the second secondary link 6222 moves outside the envelope side surface 604.

[0174] The third main strut 6310, the third secondary strut 6320, and the third auxiliary strut 6330 are cylindrical tubes. The third main strut 6310 is sleeved and connected to the third secondary strut 6320, and the third secondary strut 6320 is sleeved and connected to the third auxiliary strut 6330. The third secondary strut 6320 can translate along the longitudinal axis 602 inside the third main strut 6310 relative to the third main strut 6310, and the third auxiliary strut 6330 can translate along the longitudinal axis 602 inside the third secondary strut 6320 relative to the third secondary strut 6320. The third main link 6312, the third secondary link 5322, the third auxiliary link 5332, and the third follower link 5342 are all partially cylindrical tube-shaped rods.

[0175] Independent of, synchronized with, or asynchronous to the above mutual displacements of the first main support rod 6110, the first secondary support rod 6120, the first auxiliary support rod 6130, the first main connecting rod 6112, the first secondary connecting rod 6122, the first auxiliary connecting rod 6132, and the first secondary connecting rod 6142, and the above mutual displacements of the second main support rod 6210, the second secondary support rod 6220, the second auxiliary support rod 6230, the second main connecting rod 6212, the second secondary connecting rod 6222, the second auxiliary connecting rod 6232, and the second secondary connecting rod 6242, the third secondary support rod 6320 can translate relative to the third main support rod 6310, thereby driving the third secondary connecting rod 6322 to rotate relative to the third secondary support rod 6320. Independent of the translation of the third secondary support rod 6320 relative to the third main support rod 6310, the third auxiliary support rod 6330 can translate relative to the third secondary support rod 6320, that is, translate relative to the third main support rod 6310. The translation of the third auxiliary support rod 6330 relative to the third secondary support rod 6320 drives the third secondary connecting rod 6342 to rotate relative to the third secondary connecting rod 6322 through the third auxiliary connecting rod 6332, and at the same time drives the third secondary connecting rod 6342 to rotate relative to the third auxiliary connecting rod 6332, so that the third main connecting rod 6312, the third secondary connecting rod 6322, the third auxiliary connecting rod 6332, and the third secondary connecting rod 6342 are displaced between the first position ( Fig.40 ) and the second position ( Fig.41 ).

[0176] In the first position, the first main connecting rod 6112, the first secondary connecting rod 6122, the first auxiliary connecting rod 6132, the first secondary connecting rod 6142, and the surgical clamp 6190 mounted on the first secondary connecting rod 6142 are all located inside the enveloping side surface 604. At the same time, the second main connecting rod 6212, the second secondary connecting rod 6222, the second auxiliary connecting rod 6232, the second secondary connecting rod 6242, and the surgical scalpel 6290 mounted on the second secondary connecting rod 6242 are all located inside the enveloping side surface 604. The third main connecting rod 6312, the third secondary connecting rod 6322, the third auxiliary connecting rod 6332, the third secondary connecting rod 6342, and the surgical needle 6390 mounted on the third secondary connecting rod 6342 are all located inside the enveloping side surface 604. The manipulation support device 600 is in a folded state, as shown in Fig.40 , Fig.44 .

[0177] In the second position, the second end 6112c of the first main link 6112, the second end 6122c of the first secondary link 6122, the second end 6132c of the first auxiliary link 6132, the first follower link 6142, and the surgical clamp 6190 are located outside the envelope side surface 604. The second end 6212c of the second main link 6212, the second end 6222c of the second secondary link 6222, the second end 6232c of the second auxiliary link 6232, the second follower link 6242, and the surgical scalpel 6290 are located outside the envelope side surface 604. The second end 6112c of the third main link 6312, the second end 6122c of the third secondary link 6322, the second end 6132c of the third auxiliary link 6332, the third follower link 6342, and the surgical needle 6390 are located outside the envelope side surface 604. The manipulation support device 600 is in an unfolded state, as Fig.41 shown.

[0178] In the folded state, the manipulation support device 600 is in the shape of an elongated rod, and its overall cross-sectional diameter is not greater than the cross-sectional diameter 6110d of the first main strut 6110. It can pass through an opening of a target object with a diameter only slightly larger than the cross-sectional diameter 6110d of the first main strut 6110, such as the abdominal cavity opening 28 of a laparoscopic surgery patient 26 with an access port. Thus, it can carry the surgical clamp 6190 respectively mounted on the first follower link 6142, the surgical scalpel 6290 mounted on the second follower link 6242, and the surgical needle 6390 mounted on the third follower link 6342 through the opening 28 and enter the abdominal cavity of the patient 26 for surgical operations.

[0179] After the surgical clamp 6190, the surgical scalpel 6290, and the surgical needle 6390 reach the surgical site in the abdominal cavity of the patient 26 through the opening 28 when the manipulation support device 600 is in the folded state, the first secondary strut 6120 translates relative to the first main strut 6110, for example Fig.48 the translation shown in the forward direction 6120f, driving the first secondary link 6122 to rotate away from the longitudinal axis 602 relative to the first secondary strut 6120, and at the same time driving the first main link 6112 to rotate away from the longitudinal axis 602 relative to the first main strut 6110, so that the second end 6122c of the first secondary link 6122 moves to the outside of the envelope side surface 604. The displacement of the second end 6122c of the first secondary link 6122 to the outside of the envelope side surface 604 drives the surgical clamp 6190 mounted on the first follower link 6142 to change its orientation through the first follower link 6142, realizing the surgical operation.

[0180] Independently, synchronously, or asynchronously with respect to the above displacements of the first strut 6120, the first auxiliary strut 6130, the first main link 6112, the first secondary link 6122, the first auxiliary link 6132, and the first slave link 6142, the second strut 6220 translates relative to the second main strut 6210, for example Fig.48 as shown, a translation in the forward direction 6220f, driving the second secondary link 6222 to rotate away from the longitudinal axis 602 relative to the second strut 6220, and at the same time driving the second main link 6212 to rotate away from the longitudinal axis 602 relative to the second main strut 6210, so that the second end 6222c of the second secondary link 6222 moves outside the envelope side surface 604. The displacement of the second end 6222c of the second secondary link 6222 outside the envelope side surface 604 drives the scalpel 6290 mounted on the second slave link 6242 to change its orientation, cooperating with the surgical clamp 6190 to perform a surgical operation.

[0181] Independently, synchronously, or asynchronously with respect to the translation of the first strut 6120 relative to the first main strut 6110 and / or with respect to the translation of the second strut 6220 relative to the second main strut 6210, the third strut 6320 translates relative to the third main strut 6310, for example Fig.45 as shown, a translation in the forward direction 6320f, driving the third secondary link 6322 to rotate away from the longitudinal axis 602 relative to the third strut 6320, and at the same time driving the third main link 6312 to rotate away from the longitudinal axis 502 relative to the third main strut 6310, so that the second end 6322c of the third secondary link 6322 moves outside the envelope side surface 604. The displacement of the second end 6322c of the third secondary link 6322 outside the envelope side surface 604 drives the surgical needle 6390 mounted on the third slave link 6342 to change its orientation, cooperating with the surgical clamp 6190 and / or the scalpel 6290 to perform a surgical operation.

[0182] After the steps of the intraperitoneal surgical operation are completed, the first strut 6120 translates in the reverse direction relative to the first main strut 6110, for example Fig.45 as shown, a translation in the rearward direction 6120r, driving the first secondary link 6122 to rotate towards the longitudinal axis 602, and at the same time driving the first main link 6112 to rotate towards the longitudinal axis 602, so that the second end 6122c of the first secondary link 6122 returns inside the envelope side surface 604, thereby driving the surgical clamp 6190 mounted on the second end 6142c of the first slave link 6142 to return inside the envelope side surface 604. Similarly, the second strut 6220 translates in the reverse direction relative to the second main strut 6210, for example Fig.48The translational motion towards the rear direction 6220r as shown drives the second connecting rod 6222 to rotate towards the direction approaching the longitudinal axis 602, and at the same time drives the second main connecting rod 6212 to rotate towards the direction approaching the longitudinal axis 502, causing the second end 6222c of the second connecting rod 6222 to return to the inside of the enveloping side surface 604, thereby driving the scalpel 6290 mounted on the second end 6242c of the second secondary connecting rod 6242 to return to the inside of the enveloping side surface 604. Similarly, the reverse translational motion of the third strut 6320 relative to the third main strut 6310, for example Fig.48 The translational motion towards the rear direction 6320r as shown drives the third connecting rod 6322 to rotate towards the direction approaching the longitudinal axis 602, and at the same time drives the third main connecting rod 6312 to rotate towards the direction approaching the longitudinal axis 602, causing the second end 6322c of the third connecting rod 6322 to return to the inside of the enveloping side surface 604, thereby driving the surgical needle 6390 mounted on the third secondary connecting rod 6342 to return to the inside of the enveloping side surface 604. Thus, the manipulation support device 600 returns to the folded state, that is, an elongated rod with an overall structure smaller than the diameter of the abdominal cavity opening 28. The manipulation support device 600 can then be taken out of the patient's abdominal cavity through the opening 28.

[0183] During the displacement process of the first main connecting rod 6112, the first secondary connecting rod 6122, and the surgical clamp 6190 between the first position and the second position, during the displacement process of the second main connecting rod 6212, the second secondary connecting rod 6222, and the surgical scalpel 6290 between the first position and the second position, and during the displacement process of the third main connecting rod 6312, the third secondary connecting rod 6322, and the surgical needle 6390 between the first position and the second position, the first main support rod 6110, the first secondary support rod 6120, the first auxiliary support rod 6130, the second main support rod 6210, the second secondary support rod 6220, the second auxiliary support rod 6230, the third main support rod 6310, the third secondary support rod 6320, and the third auxiliary support rod 6330 are inserted and positioned in the opening 28. The translational displacement of the first secondary support rod 6120 and the first auxiliary support rod 6130 relative to the first main support rod 6110 is always located inside the envelope side surface 604. At the same time, the translational displacement of the second secondary support rod 6220 and the second auxiliary support rod 6230 relative to the second main support rod 6210 is also always located inside the envelope side surface 604, and the translational displacement of the third secondary support rod 6320 and the third auxiliary support rod 6330 relative to the third main support rod 6310 is also always located inside the envelope side surface 604. Thus, the manipulation support device 600 can achieve the following displacement of the surgical clamp 6190, the surgical scalpel 6290, and the surgical needle 6390 within a range greater than the predetermined space, such as a lateral displacement within a range greater than the diameter of the opening 28, through the driving displacement of the first secondary support rod 6120, the first auxiliary support rod 6130, the second secondary support rod 6220, the second auxiliary support rod 6230, the third secondary support rod 6320, and the third auxiliary support rod 6330 within a range less than the predetermined space, such as an axial driving displacement within a range less than the diameter of the opening 28, thereby achieving the object of the laparoscopic surgery with high functional requirements through a single port in the present invention.

[0184] In the manipulation support device of the foregoing embodiment, connections can be formed in various structures between the relatively rotatable rods. Taking the manipulation support device 100 in the foregoing embodiment as an example, as Fig.46 and Fig.47As shown, the main connecting rod 112 and the main support rod 110 are integrally formed and connected through the connecting part 111. The main support rod 110 is in the shape of a cylindrical tube, and the main connecting rod 112 is in the shape of a partial cylindrical tube, for example, a tube with a semi-circular cross-section. The connecting part 111 has the same semi-circular cross-section as the main connecting rod 112. A first narrow groove 111a is formed on the first side of the connecting part 111, and a second narrow groove 111b that is staggeredly spaced from the first narrow groove 111a is formed on the second side of the connecting part 111, such that the connecting part 111 as a whole is in a zigzag shape. The connecting part 111 with such a structure and shape provides a rotatable connection between the main connecting rod 112 and the main support rod 110. When the main connecting rod 112 rotates relative to the main support rod 110, the connecting part 111 undergoes elastic deformation, so as to adapt to the rotation of the main connecting rod 112 relative to the main support rod 110 while maintaining the connection between the main connecting rod 112 and the main support rod 110.

[0185] According to another embodiment, as Fig.48 and Fig.49 shown, the main connecting rod 112 and the main support rod 110 are connected through one or more neck parts 111'. The elastic deformation performance of the neck part 111' is higher than that of the main connecting rod 112 and the main support rod 110, and the cross-sectional dimension is smaller than that of the main connecting rod 112 and the main support rod 110. When the main connecting rod 112 rotates relative to the main support rod 110, the neck part 111' undergoes elastic deformation, so as to adapt to the rotation of the main connecting rod 112 relative to the main support rod 110 while maintaining the connection between the main connecting rod 112 and the main support rod 110.

[0186] According to yet another embodiment, as Fig.50 to and Fig.53 shown, the main connecting rod 112 and the main support rod 110 are connected through one or more flexible rods 111". Both ends of the flexible rod 111" are respectively embedded in the main connecting rod 112 and the main support rod 110. When the main connecting rod 112 rotates relative to the main support rod 110, the neck part 111" undergoes elastic deformation, so as to adapt to the rotation of the main connecting rod 112 relative to the main support rod 110 while maintaining the connection between the main connecting rod 112 and the main support rod 110.

[0187] In the control support device of the foregoing embodiments, between the rods that can rotate relative to each other, they can also be connected in an alternative manner. Taking the foregoing control support device 200 as an example, as Fig.54 and Fig.55As shown, the secondary connecting rod 222 includes a pair of supports 222d formed on its side wall. The primary connecting rod 212 includes a pair of protrusions 222d formed on its side wall. The protrusions 222d are engaged with the supports 222d, rotatably connecting the primary connecting rod 112 to the secondary connecting rod 222. When the primary connecting rod 112 rotates relative to the secondary connecting rod 222, the protrusions 222d rotate relative to the supports 222d, so as to support the relative rotation of the primary connecting rod 112 and the secondary connecting rod 222 while maintaining the connection between the primary connecting rod 112 and the secondary connecting rod 222, and the secondary connecting rod 222 is located between the pair of first protrusions 222d.

[0188] According to another aspect, the present invention provides a manipulation support system, which includes one or more driving devices, and manipulation support devices respectively installed on each driving device.

[0189] According to one embodiment, as Figure 56 to Figure 62 shown, the manipulation support system 800 of the present invention includes a first driving device 8100, a manipulation support device installed on the first driving device 8100, such as the first manipulation support device 210 described above, a second driving device 8200, and a manipulation support device installed on the second driving device 8200, such as the second manipulation support device 2200 described above.

[0190] The first driving device 8100 and the second driving device 8200 have a symmetrical structure for respectively driving the first manipulation support device 2100 and the second manipulation support device 2200 with corresponding symmetrical structures. Taking the first driving device 8100 as an example, as Fig.59 and Fig.60 shown, the first driving device 8100 includes a base 8102, a guide rail 8104 fixed to the base 8102, a base lead screw 8106 arranged parallel to the guide rail 8104, a frame 8150, a slider 8154 fixed to the frame 8150, a secondary support beam 8120 rotatably connected to the frame 8150, a primary support beam 8110 and an auxiliary support beam 8130 movably connected to the secondary support beam 8120, and a first manipulation support device 2100 connected to the frame 8150.

[0191] Specifically, the slider 8154 is movably and cooperatively connected to the guide rail 8104. The frame 8150 is movably connected to the base 8102 through the cooperation of the slider 8154 and the guide rail 8104. The base lead screw 8106 is rotatably connected to the base 8102 and is in threaded engagement with the frame 8150. The rotation of the base lead screw 8106 relative to the base 8102 drives the frame 8150 to translate forward in the direction 8150f or backward in the direction 8150r relative to the base 8102.

[0192] The frame 8150 is semi-circular ring-shaped and includes a main frame girder 8151 arranged along the diameter and a semi-circular ring-shaped outer edge 8153. An internal tooth 8155 is provided on the inner side of the outer edge 8153 facing the main frame girder 8151. A frame main shaft 8157 is defined through the center of the frame 8150 in a direction perpendicular to the main plane of the frame 8150.

[0193] One end of the secondary support beam 8120 is rotatably connected to the frame 8150 about the frame main shaft 8157, and a gear 8160 meshing with the internal tooth 8155 of the outer edge 8153 is connected to the other end of the secondary support beam 8120. A gear shaft 8164 is fixed to the gear 8160. The rotation of the gear shaft 8164 drives the gear 8160 to rotate and roll along the internal tooth 8155, and then drives the secondary support beam 8120 to rotate relative to the frame 8150 about the frame main shaft 8157.

[0194] The first driving device 8100 includes a main support rod driving member, such as a main lead screw 8114, and an auxiliary lead screw driving member, such as an auxiliary lead screw 8134. The main lead screw 8114 is rotatably passed through and connected to the secondary support beam 8120 and is in threaded engagement with the main support beam 8110. The rotation of the main lead screw 8114 relative to the secondary support beam 8120 drives the main support beam 8110 to translate forward in the direction 8110f or backward in the direction 8110r relative to the secondary support beam 8120. The auxiliary lead screw 8134 is rotatably connected to the secondary support beam 8120 and is in threaded engagement with the auxiliary support beam 8130. The rotation of the auxiliary lead screw 8134 relative to the secondary support beam 8120 drives the auxiliary support beam 8130 to translate forward in the direction 8130f or backward in the direction 8130r relative to the secondary support beam 8120.

[0195] The first control support device 2100 includes an elongated cylindrical main support rod 2110, a secondary support rod 2120, an auxiliary support rod 2130, a main connecting rod 2112, a secondary connecting rod 2122, an auxiliary connecting rod 2132, and a slave connecting rod 2142. The main support rod 2110 is fixedly connected to the main support beam 8110. The secondary support rod 2120 is passed through the inside of the main support rod 2110 and is fixedly connected to the secondary support beam 8120. The auxiliary support rod 2130 is passed through the inside of the secondary support rod 2120 and is fixedly connected to the auxiliary support beam 8130.

[0196] The main frame girder 8151 is located along and perpendicular to the main support beam 8110 to define a control interface 8181 by the frame main shaft 8157. One side of the control interface 8181 is the execution side 8182 on the side of the first control support device 2100, and the other side of the control interface 8181 opposite to the execution side 8182 is the control side 8184. The main support beam 8110 is located on the execution side 8182, and the auxiliary support beam 8130 is located on the control side 8184.

[0197] Driven by the main lead screw 8114, the main support beam 8110 translates forward in the direction 8110f or backward in the direction 8110r relative to the secondary support beam 8120, driving the main support rod 2110 fixedly connected to the main support beam 8110 to translate relative to the secondary support rod 2120 fixedly connected to the secondary support beam 8120. Synchronously or asynchronously, driven by the auxiliary lead screw 8134, the auxiliary support beam 8130 translates forward in the direction 8130f or backward in the direction 8130r relative to the secondary support beam 8120, driving the auxiliary support rod 2130 fixedly connected to the auxiliary support beam 8130 to translate relative to the secondary support rod 2120 fixedly connected to the secondary support beam 8120.

[0198] According to the description of the first manipulation support device 2100 in the foregoing, for example, with reference to Fig.17 and Fig.18 the described translational displacements of the main support rod 2110, the secondary support rod 2120, and the auxiliary support rod 2130 cause the first manipulation support device 2100 to change between the folded state shown in Fig.17 and the deployed state shown in Fig.18 . Therefore, the manipulation support system provided by the present invention can manipulate the manipulation support device to the folded state, so that the surgical instrument 2190 connected to the slave link can enter the patient's abdominal cavity through the opening, and then by driving the translational displacements of the main support rod 2110, the secondary support rod 2120, and the auxiliary support rod 2130 relative to each other, the manipulation support device is manipulated to the deployed state to perform the surgical operation. After the surgery, the manipulation support device is restored to the folded state, so that the manipulation support device and the surgical instrument can be taken out of the patient's abdominal cavity through the opening, thus completing the surgical operation.

[0199] The manipulation support system 800 further includes a guide rod 8176. The guide rod 8176 is fixed to the secondary support beam 8120 and is translationally connected to the main support beam 8110 and the auxiliary beam 8130. As shown in Fig.61 and Fig.62 , independent of the translational displacements of the main support rod 2110, the secondary support rod 2120, and the auxiliary support rod 2130 relative to each other, the rotation of the secondary support beam 8120 relative to the frame drives the main drive arm 8110 and the auxiliary drive arm 8130 to rotate through the main lead screw 8114, the auxiliary lead screw 8134, and the guide rod 8176, and at the same time drives the first manipulation support device 2100 to rotate about the frame spindle 8157, such as the rotation along the directions 8120s or 8120n shown in Fig.61 and Fig.62 , so that the first manipulation support device 2100 has an additional degree of freedom of movement, improving the flexibility of the surgical operation.

[0200] For the sake of brevity of description, this specification may not describe all possible substitutions and / or combinations of each technical feature in the above embodiments, and all such substitutions and / or combinations of technical features should be understood to be covered by the content and scope described in this specification. The above embodiments exemplarily describe several implementation manners of the present invention, and the specific and detailed descriptions are not intended to be construed as a limitation on the scope of protection claimed in this application. Those skilled in the art can make various modifications, substitutions, re-combinations, additions, deletions, etc. to each embodiment and the technical features therein within the inventive concept of this application, the described technical solutions, and the scope of technical features, without exceeding the scope of protection required by this application.

Claims

1. A manipulation and support device for the medical field, characterized in that, Comprising: A first main strut, the first main strut defining a longitudinal axis and an enveloping side surface extending in a direction parallel to the longitudinal axis; A first secondary strut, the first secondary strut being movably connected to the first main strut; A first main connecting rod, the first main connecting rod having a first end and a second end spaced from the first end, the first end being rotatably connected to the first main strut; A first secondary connecting rod, the first secondary connecting rod having a first end, a second end and an intermediate portion between the first end and the second end, the first end of the first secondary connecting rod being rotatably connected to the first secondary strut, and one of the intermediate portion and the second end of the first secondary connecting rod being rotatably connected to the second end of the first main connecting rod; A first auxiliary strut; A first auxiliary connecting rod; and A first slave connecting rod, wherein, the relative translation between the first secondary strut and the first main strut drives the first secondary connecting rod to displace between a first position and a second position. In the first position, the second end of the first secondary connecting rod is located inside the enveloping side surface, and in the second position, the second end of the first secondary connecting rod is located outside the enveloping side surface. wherein, the first auxiliary strut is movably connected to the first secondary strut, the first end of the first auxiliary connecting rod is rotatably connected to the first auxiliary strut, the first end of the first slave connecting rod is rotatably connected to the second end of the first secondary connecting rod, and the second end of the first auxiliary connecting rod is rotatably connected to the first slave connecting rod.

2. The manipulation support device according to claim 1, characterized in that, The first secondary strut and the first main strut are coaxially arranged along the longitudinal axis.

3. The manipulation support device according to claim 2, wherein, The first secondary strut is movably sleeved and connected to the first main strut.

4. The manipulation support device according to claim 3, characterized in that, The first secondary strut is movably sleeved and connected inside the first main strut.

5. The manipulation support device according to claim 1, characterized in that, The first main connecting rod includes a pair of first protrusions, and the first main connecting rod is pivotally connected to the first main strut through the pair of protrusions, wherein the first secondary strut is located between the pair of first protrusions.

6. The manipulation support device according to claim 5, characterized in that, The first main connecting rod includes a pair of second protrusions, and the first main connecting rod is pivotally connected to the first secondary connecting rod through the pair of second protrusions, wherein the first secondary connecting rod is located between the pair of second protrusions.

7. The manipulation support device according to claim 1, wherein At least one of the connections between the first main connecting rod and the first main strut, between the first secondary connecting rod and the first secondary strut, and between the first secondary connecting rod and the first main connecting rod is formed with a flexible deformable neck member, such that the two corresponding rods connected by the neck member can rotate relative to each other.

8. The manipulation support device according to claim 1, characterized in that, At least one of the connections between the first main connecting rod and the first main strut, between the first secondary connecting rod and the first secondary strut, and between the first secondary connecting rod and the first main connecting rod is provided with a flexible deformable flexible rod, such that the two corresponding rods connected by the flexible rod can rotate relative to each other.

9. The manipulation support device according to claim 1, characterized in that, When the first secondary connecting rod is in the first position, the first secondary strut, the first main connecting rod and the first secondary connecting rod are located inside the enveloping side surface.

10. The manipulation support device according to claim 1, characterized in that The relative translation between the first support rod and the first main support rod drives the first secondary link to displace between a first position and a second position. At the first position, the first secondary link is located inside the envelope side surface. At the second position, the second end of the first secondary link is located outside the envelope side surface.

11. The manipulation support device according to claim 10, characterized in that, When the second end of the first secondary link is located outside the envelope side surface, the relative translation between the first auxiliary support rod and the first support rod drives the first secondary link to change its position outside the envelope side surface.

12. The manipulation support device according to claim 10, characterized in that, When the first secondary link is at the first position, the first support rod, the first auxiliary support rod, the first main link, the first secondary link, and the first secondary link are located inside the envelope side surface.

13. The manipulation support device according to claim 12, characterized in that, It further includes a first main support rod driver, which is fixed to the first main support rod and operably drives the first main support rod to translate relative to the first support rod, thereby realizing the relative translation between the first main support rod and the first support rod.

14. The manipulation support device according to claim 13, characterized in that, It further includes a first auxiliary support rod driver, which is fixed to the first auxiliary support rod and operably drives the first auxiliary support rod to translate relative to the first support rod.

15. The manipulation support device according to claim 13, characterized in that, It further includes a frame and a first support beam movably connected to the frame and fixed to the first support rod. The first support beam operably drives the first support rod to move relative to the frame.

16. The manipulation support device according to claim 15, characterized in that, The first support beam is rotatably connected to the frame. The first support beam can rotate relative to the frame about the longitudinal axis, thereby driving the first main support rod, the first support rod, the first main link, the first secondary link, the first auxiliary support rod, the first auxiliary link, and the first secondary link to rotate relative to the frame about the longitudinal axis.

17. The manipulation support device according to claim 16, characterized in that, The frame includes an annular outer edge and a frame tooth portion formed on the annular outer edge centered on the longitudinal axis. The control support device further includes a gear rotatably connected to the first support beam. The gear meshes with the frame tooth portion. The rotation of the gear causes the gear to roll along the inner teeth, driving the first support beam to rotate relative to the frame about the main axis of the frame.

18. The manipulation support device according to claim 15, characterized in that, It further includes a base, and the frame is movably connected to the base.

19. The manipulation support device according to claim 18, wherein, It further includes a base lead screw rotatably connected to the base and threadedly engaged with the frame. The rotation of the base lead screw relative to the base drives the frame to translate relative to the base.

20. A manipulation and support device for the medical field, characterized in that, Comprising: A first main support rod defining a longitudinal axis and an envelope side surface extending in a direction parallel to the longitudinal axis; A first support rod movably connected to the first main support rod; A first main link having a first end and a second end spaced from the first end. The first end is rotatably connected to the first main support rod; The first connecting rod, the first connecting rod having a first end, a second end, and an intermediate portion located between the first end and the second end, the first end of the first connecting rod being rotatably connected to the first supporting rod, and one of the intermediate portion and the second end of the first connecting rod being rotatably connected to the second end of the first main connecting rod; The second main supporting rod; The second supporting rod; The second main connecting rod; and The second connecting rod, wherein, the relative translation between the first supporting rod and the first main supporting rod drives the first connecting rod to displace between a first position and a second position. In the first position, the second end of the first connecting rod is located inside the enveloping side surface, and in the second position, the second end of the first connecting rod is located outside the enveloping side surface. wherein, the second main supporting rod is translationally connected to the first main supporting rod, the second supporting rod is translationally connected to the second main supporting rod, the second main connecting rod is rotatably connected to the second main supporting rod, and the second connecting rod is rotatably connected to the second main connecting rod. Wherein, the translation of the second supporting rod relative to the second main supporting rod drives the second connecting rod to displace between a first position and a second position. In the first position, the second end of the second connecting rod is located inside the enveloping side surface, and in the second position, the second end of the second connecting rod is located outside the enveloping side surface.

21. The manipulation support device according to claim 20, wherein The second main supporting rod and the first main supporting rod are coaxially arranged along the longitudinal axis.

22. The manipulation support device according to claim 21, wherein, The second main supporting rod is translationally sleeved and connected to the first main supporting rod.

23. The manipulation support device according to claim 22, characterized in that, The second main supporting rod is translationally sleeved and connected inside the first main supporting rod.

24. The manipulation support device according to claim 23, characterized in that, The second supporting rod is translationally sleeved and connected inside the second main supporting rod.

25. The manipulation support device according to claim 21, characterized in that, The geometric center of the cross-section of the second main supporting rod and the geometric center of the cross-section of the first main supporting rod are coaxially arranged along the longitudinal axis.

26. The manipulation support device according to claim 25, characterized in that, Inside the enveloping side surface, a first cylindrical space in the shape of a partial cylinder and a second cylindrical space in the shape of a partial cylinder are defined. The first main supporting rod is located in the first cylindrical space, and the second main supporting rod is located in the second cylindrical space.

27. A manipulation and support device for the medical field, characterized in that, Comprising: A first main supporting rod, the first main supporting rod defining a longitudinal axis and an enveloping side surface extending in a direction parallel to the longitudinal axis; A first supporting rod, the first supporting rod being translationally connected to the first main supporting rod; A first main connecting rod, the first main connecting rod having a first end and a second end spaced from the first end, the first end being rotatably connected to the first main supporting rod; A first connecting rod, the first connecting rod having a first end, a second end, and an intermediate portion located between the first end and the second end, the first end of the first connecting rod being rotatably connected to the first supporting rod, and one of the intermediate portion and the second end of the first connecting rod being rotatably connected to the second end of the first main connecting rod; A third main supporting rod; A third supporting rod; A third main connecting rod; and A third connecting rod, Among them, the relative translational movement between the first support rod and the first main support rod drives the first connecting rod to displace between a first position and a second position. At the first position, the second end of the first connecting rod is located inside the envelope side surface. At the second position, the second end of the first connecting rod is located outside the envelope side surface. Among them, the third main support rod is translationally connected to the first main support rod, the third support rod is translationally connected to the third main support rod, the third main connecting rod is rotatably connected to the third main support rod, and the third connecting rod is rotatably connected to the third main connecting rod. Among them, the translational movement of the third support rod relative to the third main support rod drives the third connecting rod to displace between a first position and a second position. At the first position, the second end of the third connecting rod is located inside the envelope side surface. At the second position, the second end of the third connecting rod is located outside the envelope side surface.

28. The manipulation support device according to claim 27, wherein The third main support rod and the first main support rod are coaxially arranged along the longitudinal axis.

29. The manipulation support device according to claim 28, wherein, The third main support rod is translationally sleeved and connected to the first main support rod.

30. The manipulation support device according to claim 29, characterized in that, The third main support rod is translationally sleeved and connected inside the first main support rod.

31. The manipulation support device according to claim 27, wherein, The control support device further includes a second main support rod. The geometric center of the cross-section of the third main support rod, the geometric center of the cross-section of the first main support rod, and the second main support rod are coaxially arranged along the longitudinal axis.

32. The manipulation support device according to claim 31, characterized in that, The envelope side surface defines a first cylindrical space in the shape of a partial cylinder, a second cylindrical space in the shape of a partial cylinder, and a third cylindrical space in the shape of a partial cylinder. The first main support rod is located in the first cylindrical space, the second main support rod is located in the second cylindrical space, and the third main support rod is located in the third cylindrical space.

33. The manipulation support device according to claim 32, characterized in that, It further includes a first support rod driver, a second support rod driver, and a third support rod driver. The first support rod driver is fixed to the first support rod and operably drives the first support rod to translate relative to the first main support rod; the second support rod driver is fixed to the second support rod and operably drives the second support rod to translate relative to the second main support rod; the third support rod driver is fixed to the third support rod and operably drives the third support rod to translate relative to the third main support rod.

34. A manipulation support system for the medical field, characterized in that, The control support system includes: A frame that defines a control interface, an execution side on one side of the control interface, and a control side on the other side of the control interface; A secondary support beam connected to the frame; A main support beam that is translationally connected to the secondary support beam and is located on the execution side; An auxiliary support beam that is translationally connected to the secondary support beam and is located on the control side; A secondary support rod fixed to the secondary support beam; A main support rod that is translationally sleeved on the secondary support rod and is fixed to the main support beam; An auxiliary support rod that is translationally sleeved on the secondary support rod and is fixed to the auxiliary support beam; A main support beam driver that is rotatably penetrated and connected to the secondary support beam and is cooperatively connected to the main support beam; An auxiliary support beam driver that is rotatably connected to the secondary support beam and is cooperatively connected to the auxiliary support beam; Wherein The main beam driving member is operable to drive the main beam to translate relative to the secondary beam, and then drive the main support rod to translate relative to the secondary support rod; The auxiliary beam driving member is operable to drive the auxiliary beam to translate relative to the secondary beam, and then drive the auxiliary support rod to translate relative to the secondary support rod.

35. The manipulation support system according to claim 34, characterized in that, The secondary beam is rotatably connected to the frame about the main axis of the frame. The control support system includes a gear rotatably connected to the secondary beam. The frame includes an annular outer edge and a tooth portion formed inside the annular outer edge. The gear meshes with the tooth portion, wherein the rotation of the gear relative to the secondary beam drives the secondary beam to rotate relative to the frame about the main axis.

36. The manipulation support system according to claim 35, wherein, It further includes a guide rod fixed to the secondary beam and passing through the main beam and the auxiliary beam. The main beam and the auxiliary beam are slidably connected to the guide rod.

37. The manipulation support system according to claim 36, characterized in that, It further includes a base, wherein the frame is slidably connected to the base.

38. The manipulation support system according to claim 34, wherein It further includes a main connecting rod, a secondary connecting rod, an auxiliary connecting rod and a slave connecting rod. The main connecting rod is rotatably connected to the main support rod. The secondary connecting rod is rotatably connected to the secondary support rod and the main support rod. The auxiliary connecting rod is rotatably connected to the auxiliary support rod and the slave connecting rod. The slave connecting rod is rotatably connected to the secondary connecting rod. Wherein the translation of the main support rod relative to the secondary support rod drives the secondary support rod to displace between a folded position and an unfolded position.

Images