Robotic surgical device and robotic surgical master-slave teleoperation device

Abstract

The present invention discloses a robotic surgical device comprising a base, a platform, a drive mechanism, a movable platform, an actuator, and surgical instruments. The sidewall of the platform serves as a mounting surface, and the platform is fixedly mounted on a panel of the base. The drive mechanism comprises at least three linear motion components evenly arranged on the platform mounting surface, and a first ball hinge mounted at the output end of each linear motion component. The movable platform is provided with a number and position of second ball hinges that match the first ball hinges, and the first and second ball hinges are connected by a connecting rod. The actuator comprises a movable end and a fixed end, and is mounted on the movable platform. The movable and fixed ends of the actuator cooperate to drive the opening and closing of the surgical instruments. This device is miniaturized, compact, and easy for doctors to operate, and can achieve master-slave remote control between multiple surgical robotic devices.

Description

Technical Field

[0001] The present invention relates to the field of medical robots, and in particular to a robotic surgical device. Background Art

[0002] In microsurgery, the surgical objects are mostly sensitive soft tissues such as tiny nerves and blood vessels. This type of surgery requires the surgeon to possess high precision and hand stability. During the operation, the surgeon must perform complex micro-manipulations such as vascular suturing, tissue dissection, and organ shearing. The required precision of surgical instrument movement far exceeds the physiological limits of the human hand. This is why surgical robots have emerged. Surgical robots can achieve precise control of surgical instruments. In addition, the surgeon can implement commands through a console, which greatly reduces the physical burden on the surgeon, thereby achieving better results than traditional active surgery. Considering the importance of surgical precision, surgeon comfort, reduced surgical risks, and reduced surgeon fatigue, the research of surgical robotic systems is a hot topic in international medical technology.

[0003] After searching the prior art, it was found that the Chinese invention patent with invention number 201710254581.5 discloses a master-slave teleoperated surgical robot control system based on stereo vision. This patent uses a stereo vision function on the slave end, and the operator observes the movement of the slave robot through a stereo vision device to complete the surgical task. The advantage of this solution is to improve the operator's visual perception, thereby improving the doctor's sense of reality when performing teleoperated surgery and better controlling the robot to complete the surgery. However, when the doctor adopts the solution described in this patent, the doctor cannot perceive the change in the size of the contact force between the surgical instrument clamped by the execution end of the slave robot and the lesion tissue, and can only rely on the human eye to observe the image on the stereo display device, resulting in the doctor only being able to control the position of the surgical instrument through the operating table, but unable to grasp the size of the operating force that the surgical instrument needs to exert on the lesion tissue, and cannot fully grasp the surgical situation. There is still a certain surgical risk.

[0004] Chinese invention patent number 200510016290.X discloses a microsurgical robot control system with force sensing. The patent describes a solution: designing a heterogeneous master-slave surgical robot control system that utilizes force sensors to provide force feedback between the master and slave robots, enabling doctors to more accurately perceive the patient's condition and improving surgical safety and success rates. However, the addition of force sensors to achieve force feedback increases the size and weight of the entire master-slave mechanism, making it inconvenient for doctors to operate. Furthermore, the design of the heterogeneous master-slave robots complicates the master-slave relationship, increases the computational complexity of the control algorithm, and prolongs the response time of the master and slave robots. This compromises the real-time performance and stability of the entire control system.

[0005] The Chinese invention patent with invention number CN101972159A discloses a six-degree-of-freedom cervical vertebrae grinding parallel robot system. This patent uses a parallel robot to replace the doctor to complete the positioning and grinding of the prosthesis and bone mating surface in artificial cervical disc replacement surgery. This solution can not only reduce the workload of doctors, but also reduce the size of the wound and reduce the pain of patients. However, this solution uses a ball screw to achieve linear motion, which increases the volume and inertia of the entire parallel mechanism and reduces the human-computer interaction performance. Although the ball screw can achieve the deceleration function, this method has a cumulative position error and limits the dynamic performance of the driver, affecting the accuracy and stability of the entire parallel robot. Summary of the Invention

[0006] In order to solve the above problems, the present invention provides a robotic surgical device, which is implemented in the following ways:

[0007] A robotic surgical device, a driving device, the driving device comprising at least three linear motion components uniformly arranged on the base mounting surface and a first ball hinge mounted on the output end of each linear motion component;

[0008] A movable platform is provided with second ball hinges whose number and position match those of the first ball hinges, and the first ball hinges and the second ball hinges are connected by a connecting rod;

[0009] An execution end, comprising a movable end and a fixed end, and mounted on the movable platform;

[0010] Surgical equipment, wherein the movable end and the fixed end of the actuator cooperate to drive the surgical equipment to open and close;

[0011] The linear motion component drives the platform to rotate in multiple directions through the first ball hinge, the connecting rod and the second ball hinge.

[0012] Preferably, the device further comprises a base and a platform, the side wall of the platform being a mounting surface, and the platform being fixedly mounted on a panel of the base.

[0013] Preferably, the base is a hexagonal pyramid.

[0014] Preferably, the linear motion components are provided in six groups.

[0015] Preferably, the execution end includes a fixed unit and a movable unit, a portion of the surgical instrument is mounted on the fixed unit, and the other portion is mounted on the movable unit; the movable component drives the surgical instrument to open and close by moving relative to the fixed component.

[0016] Preferably, the movable unit includes a first U-shaped bracket and a first magnetic axis, and the fixed unit includes a first fixed block; the first U-shaped bracket includes two parallel side walls and a bottom wall arranged perpendicular to it; the first magnetic axis is perpendicular to the two parallel side walls of the first U-shaped bracket and parallel to the bottom wall, and the first magnetic axis is threadedly connected to the first U-shaped bracket; the first magnetic axis passes through the first fixed block, and the movement of the first magnetic axis drives the movement of the first U-shaped bracket; a part of the surgical instrument is fixed on the first fixed block, and the other part is fixed on the first U-shaped bracket.

[0017] Preferably, the fixing unit further includes a first mounting plate;

[0018] The side plates of the first mounting plate are fixed to the side walls of the first fixing block, and the bottom plate of the first mounting plate is slidably connected to the lower bottom surface of the first U-shaped bracket;

[0019] The outer surface of one of the two parallel side walls of the first U-shaped bracket is fixedly mounted to the moving platform.

[0020] Preferably, the first magnetic axis is composed of a plurality of alternating magnetic poles. After power is turned on, the first fixed block generates a magnetic field, and the first magnetic axis drives the first U-shaped bracket to move linearly.

[0021] Preferably, a first grating scale is mounted on the side wall of the first U-shaped bracket, and a first reading head for recording data on the first grating scale is mounted on the bottom plate of the first mounting plate.

[0022] Preferably, the linear motion assembly includes a fixed module and a movable module, the fixed module is mounted on the base, and the movable module moves relative to the fixed module and drives the connecting rod to rotate through the first ball hinge.

[0023] Preferably, the fixed module includes a second fixed block, and the movable module includes a second magnetic axis and a second U-shaped bracket;

[0024] The second U-shaped bracket includes two parallel side walls and a bottom wall arranged perpendicular thereto;

[0025] The second magnetic axis is perpendicular to the two parallel side walls of the second U-shaped bracket and parallel to the bottom wall;

[0026] The second fixing block is sleeved on the second magnetic shaft. When powered on, the second fixing block generates a magnetic field, and the second magnetic shaft drives the second U-shaped bracket to move linearly.

[0027] Preferably, the fixing module further comprises a second mounting plate, and the second mounting plate is fixedly mounted on the mounting surface of the base; the second fixing block is fixed on a side panel of the second mounting plate.

[0028] Preferably, the side panels of the second mounting plate are connected to the floor via reinforcing ribs.

[0029] Preferably, a second grating scale is mounted on the side wall of the second U-shaped bracket, and a second reading head for recording data on the second grating scale is mounted on the bottom plate of the second mounting plate.

[0030] Preferably, the base further includes a base, a support member, and a reinforcing rib.

[0031] The support member is vertically arranged on the base;

[0032] The reinforcing rib is used to strengthen the connection between the support member and the base;

[0033] The panel is mounted on the side wall of the support member in a snowflake structure.

[0034] Preferably, the support member includes two L-shaped support members that are mirror-symmetrical to each other.

[0035] Preferably, a plurality of lightweight holes are provided on the connecting rod.

[0036] A robotic surgical master-slave teleoperation device comprises at least two robotic surgical devices, one of which is an active end and the other is a slave end, wherein the robotic surgical devices perform a master-slave collaborative operation; the active end robotic surgical device is manually controlled, and the slave end robotic surgical device follows the operating instructions of the active end, while the slave end provides real-time feedback of the operating status to the operator of the active end.

[0037] Beneficial effects: The purpose of the present invention is to design a seven-degree-of-freedom surgical robot device that is miniaturized, compact, easy for doctors to operate, and highly safe, and can realize variable-scale master-slave remote operation between multiple surgical robot devices. The device has the characteristics of small size, light weight, and good dynamic performance. At the same time, the present invention can also realize master-slave remote operation microsurgery between multiple devices with the same seven-degree-of-freedom structure, different sizes, and different execution ends. During the microsurgery, the doctor can remotely control the slave end to synchronously perform seven-degree-of-freedom operations by operating the active end. The slave end can feed back the operation status to the operator of the active end in real time, so that the operator can feel the motion information and force information of different scales during the operation in real time, thereby improving the efficiency of the operation and the effect of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0039] Figure 2It is an explosion diagram of a preferred embodiment of the present invention.

[0040] Figure 3 This is the structural intention of the linear moving component of a preferred embodiment of the present invention.

[0041] Figure 4 It is a schematic diagram of the execution terminal of a preferred embodiment of the present invention.

[0042] Figure 5 It is a schematic diagram of an execution terminal of another preferred embodiment of the present invention.

[0043] Description of the drawings: base 1; base 11; support member 12; panel 13; base 2; drive device 3; linear motion assembly 31; first ball hinge 32; second mounting plate 311; second fixed block 312; second magnetic axis 313; second U-shaped bracket 314; second reading head 315; second grating scale 316; moving platform 4; execution end 5; first U-shaped bracket 51; first grating scale 52; first magnetic axis 53; first fixed block 54; first mounting plate 55; first reading head 56; surgical instrument 6; connecting rod 7; second ball hinge 8. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms first, second, third, etc. are used herein to describe various components or parts, but these components or parts are not limited by these terms. These terms are only used to distinguish one component or part from another component or part. Terms such as "first", "second" and other numerical items do not imply order or sequence when used herein unless clearly indicated by the context. For ease of description, spatially relative terms such as "inside", "outside", "upper end", "lower end", "left side", "right side", "upper", "left", "right", etc. are used herein to describe the orientation relationship of components or parts in this embodiment, but these spatially relative terms do not limit the orientation of technical features in actual applications.

[0046] In the prior art, shielded wires are processed manually. In order to achieve fully automated production, the present invention provides a robotic surgical device that can automatically break up the wire harness and obtain part of the wire harness. The specific solution is as follows:

[0047] like Figure 1-Figure 2 As shown, a robotic surgical device includes a base 1, a base 2, a driving device 3, a moving platform 4, an execution end 5, and a surgical instrument 6. The side wall of the base 2 is a mounting surface, and the base 2 is fixedly mounted on the panel 13 of the base 1; the driving device 3 includes at least three linear motion components 31 evenly arranged on the mounting surface of the base 2 and a first ball hinge 32 installed at the output end of each linear motion component 31; the moving platform 4 is provided with a second ball hinge 8 whose number and position are adapted to the first ball hinge 32, and the first ball hinge 32 is connected to the second ball hinge 8 by a connecting rod 7; the execution end 5 includes a moving end and a fixed end, and the execution end 5 is mounted on the moving platform 4; the moving end and the fixed end of the execution end 5 cooperate to drive the surgical instrument 6 to open and close; the linear motion component 31 drives the moving platform 4 to rotate in multiple directions through the first ball hinge 32, the connecting rod 7, and the second ball hinge 8.

[0048] Among them, the outer wall of the base 2 is the installation surface. No matter how many linear moving components 31 of this device there are, they must be evenly arranged around the installation surface, so that when controlling the rotation angle of the moving platform 4, the control can be more precise.

[0049] Among them, the surgical instrument 6 described in this device can be surgical tools such as medical tweezers, scissors, etc., which require opening and closing functions to operate during surgery, but are not limited to the two tools mentioned above, and will not be described one by one here.

[0050] The structure of the present invention is as follows: the base 2 is a prism, that is, the bottom surface of the prism is the bottom surface of the base 2 for fixed installation, and a cross section in the middle of the prism is taken as the upper surface of the base 2. This upper surface is set relative to the bottom surface of the base 2, and then the side wall of the prism is set with a mounting surface, such as Figure 1 This mounting surface is provided with a rectangular recessed mounting surface on the side wall along the direction of the side wall, and this mounting surface is used for driving device 3 .

[0051] Among them, a preferred implementation method may be: the base 2 is generally in the shape of a frustum, the end face of the frustum-shaped base 2 with a larger area is a 12-equal-sided polygon, the smaller end face is a 6-equal-sided polygon, and the side surface formed by the two end faces is an inclined surface with an isosceles trapezoid and an equilateral triangle arranged at intervals, wherein the side surface of the isosceles trapezoid is provided with a rectangular groove for installing the linear motion component 31, and the six linear motion components 31 of this device are respectively installed on the six grooves.

[0052] In order to achieve multiple degrees of freedom and minimize occupied space, the mounting surface on the base 2 of the present invention can accommodate at least three linear motion components 31. However, in order to achieve multi-degree-of-freedom control of the device, a preferred embodiment is to install six linear motion components 31 on the mounting surface of the drive device 3 provided on the base 2; that is, the base 2 is a hexagonal platform, and the surface of the base 2 used to install the linear motion components 31 is at a 60° angle to the horizontal plane. The drive device 3 of the present invention can drive the connecting rod 7 to move linearly. Since the connecting rod 7 is respectively articulated between the movable platform 4 and the drive device 3, the drive device 3 can achieve six degrees of freedom control of the movable platform 4. Since the movable platform 4 is provided with an actuator 5, the actuator 5 also has six degrees of freedom control due to the six degrees of freedom of the movable platform 4. Since the actuator 5 itself can drive the opening and closing of the surgical instrument 6, the surgical instrument 6 indirectly has seven degrees of freedom control. The surgical instrument 6 of the present invention can be a pair of forceps, scissors, or other instruments that require opening and closing movements. The fixing position of the base 2 is mainly on the panel 13 of the base 1, and the panel 13 of the base 1 is fixedly supported by a support frame.

[0053] like Figure 4 or Figure 5 As shown in a preferred embodiment, the actuator 5 includes a fixed unit and a movable unit. A portion of the surgical instrument 6 is mounted to the fixed unit, and another portion is mounted to the movable unit. The movable assembly 31 drives the surgical instrument 6 to open and close by moving relative to the fixed assembly. The fixed unit includes a first U-shaped bracket 51 and a first magnetic axis 53, and the movable unit includes a first fixed block 54. The first U-shaped bracket 51 includes two parallel side walls and a bottom wall perpendicular thereto. The first magnetic axis 53 is perpendicular to the two parallel side walls of the first U-shaped bracket 51 and parallel to the bottom wall. The first magnetic axis 53 passes through the first fixed block 54, and movement of the magnetic axis drives movement of the first U-shaped bracket. The surgical instrument 6 is partially fixed to the first fixed block 54, and the other portion is fixed to the first U-shaped bracket 51. The fixed unit also includes a first mounting plate 55. The side panels of the first mounting plate 55 are fixed to the side walls of the first fixing block 54, and the bottom panel of the first mounting plate 55 is slidably connected to the lower surface of the first U-shaped bracket 51. The outer surface of one of the two parallel side walls of the first U-shaped bracket 51 is fixedly mounted to the movable platform 4. The first magnetic axis 53 is composed of a plurality of alternating magnetic poles. When powered on, the first magnetic axis 53 drives the first U-shaped bracket 51 to move linearly under the action of the magnetic field generated by the first fixing block 54 .

[0054] The specific work of the execution terminal 5 is as follows: after power is turned on, the coil built into the first fixed block 54 forms a magnetic field, and the first magnetic axis 53 moves linearly under the action of the magnetic field. The first magnetic axis 53 is connected to the first U-shaped bracket 51 by a thread. When the first magnetic axis 53 moves back and forth linearly, it drives the first U-shaped bracket 51 to move. The first fixed block 54 is connected to the side of the first mounting plate 55 by a thread. A first slide groove is provided on the lower plate of the first mounting plate 55. A first slide rail is provided on the lower bottom surface of the first U-shaped bracket 51. The first mounting rod can slide linearly relative to the first mounting plate 55 through the cooperation of the first slide groove and the first slide rail. The first reading head 56 is installed on the bottom plate of the first mounting plate 55 and can observe the reading of the first grating scale 52 installed on the bottom side wall of the first U-shaped bracket 51. Since the reading head is installed on the first mounting plate 55, the reading head does not move. The first U-shaped bracket 51 is driven to move by the first magnetic shaft 53 , so the grating scale also moves accordingly, so the first reading head 56 can read the readings of the first grating scale 52 corresponding to when the first magnetic shaft 53 moves to different distances.

[0055] like Figure 3 As shown, in a preferred embodiment, the linear motion assembly 31 includes a fixed module and a movable module. The fixed module is mounted on the base. The movable module moves relative to the fixed module and drives the connecting rod 7 to rotate via the first ball hinge 32. The fixed module includes a second fixed block 312, and the movable module includes a second magnetic axis 313 and a second U-shaped bracket 314. The second U-shaped bracket 314 includes two parallel side walls and a bottom wall perpendicular thereto. The second magnetic axis 313 is perpendicular to the two parallel side walls and parallel to the bottom wall of the second U-shaped bracket 314. The second fixed block 312 is sleeved on the second magnetic axis 313. When powered, the second fixed block 312 generates a magnetic field, which drives the second U-shaped bracket 314 to move linearly. The fixed module also includes a second mounting plate 311, which is fixedly mounted on the mounting surface of the base 2. The second fixed block 312 is fixed to the side panel 13 of the second mounting plate 311. The side panel 13 of the second mounting plate 311 is connected to the floor via reinforcing ribs. A second grating scale 316 is mounted on the side wall of the second U-shaped bracket 314 , and a second reading head 315 for recording data on the second grating scale 316 is mounted on the bottom plate of the second mounting plate 311 .

[0056] The working of the linear moving component 31 is specifically as follows: the second mounting plate 311 and the second fixed block 312 are stationary. Since the bottom plate of the second mounting plate 311 is fixedly mounted on the base 2, and the second fixed block 312 is fixedly mounted on the side wall of the second mounting plate 311, the second mounting plate 311 and the second fixed block 312 are fixed throughout.

[0057] The specific working principle is: after power is turned on, the built-in coil of the second fixed block 312 forms a magnetic field. Under the influence of the magnetic field, the second magnetic axis 312 moves linearly. Since the second magnetic axis 312 is connected to the second U-shaped bracket 314 through threads, the second magnetic axis 312 can drive the second U-shaped bracket 314 to move back and forth linearly.

[0058] Because a first ball hinge 32 is mounted on the sidewall of one end of the second U-shaped bracket 314, the second U-shaped bracket 314 can drive the connecting rod 7 to move and rotate via the first ball hinge 32. Furthermore, a second ball hinge 8 is mounted on the first end of the connecting rod 7, distal from the first ball hinge 32. The second ball hinge 8 is mounted on the movable platform 4. Therefore, the movement and rotation of the second ball hinge 8 driven by the connecting rod 7 can drive the movement and rotation of the movable platform 4. Because multiple linear motion assemblies 31 are evenly arranged on the sidewalls of the base 2 and each has a corresponding first ball hinge 32, connecting rod 7, and second ball hinge 8, the rotation and movement of the movable platform 4 can be adjusted in multiple directions, thereby providing the movable platform 4 with multiple degrees of freedom. In a preferred embodiment, this device has six linear motion assemblies 31. Furthermore, because the movable platform 4 is provided with an actuator 5, the device preferably has seven degrees of freedom. This device allows for better control of the surgical instrument 6 during operation.

[0059] Among them, the specific installation positions of the first ball hinge 32, the connecting rod 7, and the second ball hinge 8 are that the first ball hinge 32 is arranged on the outside of the side wall of the second U-shaped bracket 314, and the side wall is facing the direction of the moving platform 4. Since the linear moving component 31 is provided with multiple and evenly arranged on the installation surface of the base 2.

[0060] Among them, since this device combines components such as the first ball hinge 32, the second ball hinge 8, the connecting rod 7, and six linear motion components 31, the moving platform 4 of this device can realize movements such as translation and rotation; and since the execution end 5 of this device can realize the opening and closing function, the device has an operating space with 7 degrees of freedom.

[0061] In a preferred embodiment, the base 1 also includes a base 11, a support member 12, and reinforcing ribs, wherein the support member 12 is vertically arranged on the base 11; the reinforcing ribs are used to strengthen the connection between the support member and the base 11; the panel 13 is installed on the side wall of the support member 12 in a snowflake structure.

[0062] The panel 13 is mounted on the support 12. The panel 13 is in the shape of a snowflake, or "*," with the plane of the panel 13 mounted to the larger end face of the base 2, and the center of the larger end face aligned with the center of the panel 13. The support 12 comprises two L-shaped support frames, with reinforcing ribs provided at the corners of the L-shaped support frames, and two L-shaped support legs symmetrically mounted to support the panel 13.

[0063] In a preferred embodiment, the connecting rod 7 is provided with a plurality of lightweight holes.

[0064] The lightweight hole is used to reduce the weight of the connecting rod 7 so that the driving member can easily drive the connecting rod 7 to move.

[0065] like Figure 4 and Figure 5 The installation position of the surgical instrument 6 of the present invention is not unique and can be as follows Figure 5 The installation can also be as shown Figure 4 As long as the execution end can drive the surgical instrument 6 to open and close, the surgical instrument in the device is not limited to any one of the installation methods.

[0066] A robotic surgical master-slave teleoperation device comprises at least two robotic surgical devices, one of which is an active end and the other is a slave end, wherein the robotic surgical devices are in a master-slave teleoperation relationship; the active end robotic surgical device is manually controlled, and the slave end robotic surgical device synchronizes instructions with the active end.

[0067] One embodiment of the installation combination of the execution end 5 and the surgical instrument 6 is as follows: Figure 4 : The surgical instrument 6 is a clamping device, the fixed end of the surgical instrument 6 is installed on the first fixed block 54, and the movable end is installed on the first U-shaped bracket 51.

[0068] Another embodiment of the installation combination of the execution end 5 and the surgical instrument 6 is as follows: Figure 5 : The surgical instrument 6 is a forceps. The fixed end of the surgical instrument 6 is mounted on the back plate of the first mounting plate 55, and the movable end is mounted on the first U-shaped bracket 51. Since one side of the back plate of the first mounting plate has been fixedly mounted with the first fixing block 54, the fixed end of the surgical instrument 6 is mounted on one side of the first mounting plate 55, that is, Figure 5 The extension direction of surgical instruments after installation Figure 4 It is the opposite.

[0069] The specific structure of the master-slave remote control device for robotic surgery is as follows: it includes an active end, that is, a robotic surgical device at the active end, and also includes one, two, or three other slave ends. The robotic surgical device at the slave end and the robotic surgical device at the active end are in a master-slave remote control relationship. The reasons for the master-slave remote control may include: establishing a control platform through a human-computer interaction platform, Ethernet, encoder, D / A board, motion controller, etc. to enable the slave end and the active end to perform master-slave remote control. Among them, as exemplified by the embodiment of the installation combination of the execution terminal 5 and the surgical instrument 6, the robotic surgical device at the slave end can be the same as or different from the combination of the execution terminal 5 and the surgical instrument 6 of the robotic surgical device at the active end. In other words, the active end can be Figure 5 As shown, the driven end can be Figure 4 As shown, the robotic surgical device at both the driven end and the active end can be Figure 4 Or both Figure 5 , and the execution ends of the active and the slave are not limited to Figure 4 or Figure 5 Surgical instruments shown.

[0070] The master-slave remote control device for robotic surgery is used as follows: the operator operates the robotic surgical device at the active end, and the system transmits the position, force and other motion instructions of the active end to the robotic surgical device at the slave end through the control platform, controlling the robotic surgical device at the slave end to complete three degrees of freedom of translation, three degrees of freedom of rotation and one degree of freedom of execution end motion, thereby completing the seven-degree-of-freedom operation of the surgical object. At the same time, the robotic surgical device at the active end feeds back the seven-degree-of-freedom position, force and other motion states to the operator, realizing the linkage of at least two sets of seven-degree-of-freedom structures.

[0071] In the embodiments provided by the present invention, it can be understood that the devices and methods described can be implemented by other methods. For example, the device embodiments described above are only practical. For example, the division of the control unit is only a division of logical functions. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0072] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0073] In addition, the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software functional units.

[0074] The above is a detailed introduction to the robotic surgical device and the robotic surgical master-slave remote control device of the present invention. For those skilled in the art, according to the ideas of the embodiments of the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention. The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments can be combined with each other to form new embodiments. The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be included within the scope of the technical solutions of the present invention.

Claims

1. A robotic surgical device, characterized in that: A driving device (3), comprising at least three linear motion components (31) uniformly arranged on the mounting surface of the base (2) and a first ball hinge (32) mounted at the output end of each linear motion component (31); A movable platform (4), wherein the movable platform (4) is provided with second ball hinges (8) whose number and position are compatible with the first ball hinges (32), and the first ball hinges (32) and the second ball hinges (8) are connected via a connecting rod (7); An execution terminal (5), the execution terminal (5) comprising a movable end and a fixed end, the execution terminal (5) being mounted on the movable platform (4); A surgical instrument (6), wherein the movable end and the fixed end of the execution end (5) cooperate to drive the surgical instrument (6) to open and close; The linear moving assembly (31) drives the moving platform (4) to rotate in multiple directions through the first ball hinge (32), the connecting rod (7), and the second ball hinge (8); The execution end (5) includes a fixed unit and a movable unit, and a portion of the surgical instrument (6) is mounted on the fixed unit and another portion is mounted on the movable unit; The movable component (31) drives the surgical instrument (6) to open and close by moving relative to the fixed component; The moving unit includes a first U-shaped bracket (51) and a first magnetic axis (53), and the fixing unit includes a first fixing block (54); The first U-shaped bracket (51) comprises two parallel side walls and a bottom wall arranged perpendicular thereto; The first magnetic axis (53) is perpendicular to the two parallel side walls of the first U-shaped bracket (51) and parallel to the bottom wall, and the first magnetic axis (53) is threadedly connected to the first U-shaped bracket (51); The first magnetic axis (53) passes through the first fixed block (54), and the movement of the first magnetic axis (53) drives the movement of the first U-shaped bracket (51); A portion of the surgical instrument (6) is fixed on the first fixing block (54), and another portion is fixed on the first U-shaped bracket (51).

2. The robotic surgical device according to claim 1, wherein: It also includes a base (1), the side wall of the base (2) is a mounting surface, and the base (2) is fixedly mounted on a panel (13) of the base (1).

3. The robotic surgical device according to claim 1, wherein: The base (2) is a hexagonal pyramid.

4. The robotic surgical device according to claim 3, wherein: The linear moving components (31) are provided in six groups.

5. The robotic surgical device according to claim 1, wherein: The fixing unit further includes a first mounting plate (55); The side plates of the first mounting plate (55) are fixed to the side walls of the first fixing block (54), and the bottom plate of the first mounting plate (55) is slidably connected to the lower bottom surface of the first U-shaped bracket (51); The outer surface of one of the two parallel side walls of the first U-shaped bracket (51) is fixedly mounted to the moving platform (4).

6. The robotic surgical device according to claim 1, wherein: The first magnetic axis (53) is composed of a plurality of alternating magnetic poles. When energized, the first fixed block (54) generates a magnetic field, and the first magnetic axis (53) drives the first U-shaped bracket (51) to move linearly.

7. The robotic surgical device according to claim 5, wherein: A first grating ruler (52) is mounted on the side wall of the first U-shaped bracket (51), and a first reading head (56) for recording data on the first grating ruler (52) is mounted on the bottom plate of the first mounting plate (55).

8. The robotic surgical device according to claim 4, wherein: The linear motion assembly (31) comprises a fixed module and a movable module, wherein the fixed module is mounted on the base, and the movable module moves relative to the fixed module and drives the connecting rod (7) to rotate via the first ball hinge (32).

9. The robotic surgical device according to claim 8, wherein: The fixed module includes a second fixed block (312), and the movable module includes a second magnetic axis (313) and a second U-shaped bracket (314); The second U-shaped bracket (314) includes two parallel side walls and a bottom wall arranged perpendicular thereto; The second magnetic axis (313) is perpendicular to the two parallel side walls of the second U-shaped bracket (314) and parallel to the bottom wall; The second fixed block (312) is sleeved on the second magnetic axis (313); when powered, the second fixed block (312) generates a magnetic field, and the second magnetic axis (313) drives the second U-shaped bracket (314) to move linearly.

10. The robotic surgical device according to claim 9, wherein: The fixing module further comprises a second mounting plate (311), wherein the second mounting plate (311) is fixedly mounted on the mounting surface of the base (2); and the second fixing block (312) is fixed on the side panel (13) of the second mounting plate (311).

11. The robotic surgical device according to claim 10, wherein: The side panel (13) of the second mounting plate (311) is connected to the floor via reinforcing ribs.

12. The robotic surgical device according to claim 10, wherein: A second grating ruler (316) is mounted on the side wall of the second U-shaped bracket (314), and a second reading head (315) for recording data on the second grating ruler (316) is mounted on the bottom plate of the second mounting plate (311).

13. The robotic surgical device according to claim 2, wherein: The base (1) further comprises a base (11), a support member (12), and reinforcing ribs. The support member (12) is vertically arranged on the base (11); The reinforcing ribs are used to strengthen the connection between the support member and the base (11); The panel (13) is mounted on the side wall of the support member (12) in a snowflake structure.

14. The robotic surgical device according to claim 13, wherein: The support member (12) comprises two L-shaped support members that are mirror-symmetrical to each other.

15. The robotic surgical device according to claim 1, wherein: The connecting rod (7) is provided with a plurality of lightweight holes.

16. A master-slave teleoperation device for robotic surgery, characterized in that: The method comprises at least two robotic surgical devices according to any one of claims 1 to 15, wherein one of the robotic surgical devices is an active end and the other robotic surgical device is a slave end, and the robotic surgical devices perform a master-slave collaborative operation; The robotic surgical device at the active end is manually controlled, and the robotic surgical device at the passive end follows the operating instructions of the active end, while the passive end feeds back the operating status to the operator of the active end in real time.

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