A multi-joint robot arm set and a surgical robot system comprising the arm set

Abstract

The present application relates to the field of medical devices, and discloses a multi-joint mechanical arm group and a surgical robot system comprising the arm group. The multi-joint mechanical arm group comprises: at least one mechanical arm, a distal end portion of the mechanical arm is provided with an end effector and / or a camera device, the end effector is arranged to be capable of performing a surgical operation, the camera device is arranged to be capable of acquiring an image, and the distal end portion of the at least one mechanical arm is arranged to be capable of extending into a patient's body from an incision. The mechanical arm group can not only more efficiently utilize the space beside a patient bed and the working space of a surgical robot mechanical arm, but also can be better applied to the system design of multi-port, single-port, single-multi-port hybrid and / or natural orifice surgical robots and used for surgery.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, and in particular to a multi-joint robotic arm set and a surgical robot system comprising the same. BACKGROUND

[0002] Compared with traditional open surgery, the significantly reduced incision size of endoscopic minimally invasive surgery improves postoperative outcomes, such as effectively reducing patient pain and anesthetic use, accelerating postoperative recovery, and reducing the risk of postoperative infection and complications. To date, minimally invasive surgery has developed operation paradigms suitable for a variety of conditions and is driving the development of more minimally invasive surgery. However, the limited field of view and inconvenient operation in manual minimally invasive surgery make surgical operation difficult, requiring long-term training for surgeons, and complex surgery is even more difficult under minimally invasive operation. Therefore, the development of surgical robots to assist surgeons in surgical operations has become a research hotspot in various countries, and numerous products and research prototypes have emerged. Surgical robots usually use a teleoperation mode to complete surgical operations, i.e., a dexterous surgical tool is manipulated by the lead surgeon through intuitive operation input.

[0003] Modern endoscopic minimally invasive surgery requires the simultaneous cooperation of multiple surgical tools and endoscopes, and surgical robots usually use multiple mechanical arms to carry surgical tools and endoscopes. In most endoscopic surgery processes, a multi-port endoscopic surgery is usually adopted, i.e., multiple surgical mechanical arms enter the patient's body through different small incisions. However, as people's requirements for the effectiveness of minimally invasive surgery become higher, the number of surgical incisions is further controlled, making single-port endoscopic surgery widely studied, i.e., multiple surgical mechanical arms enter the patient's body through one incision. Due to the limitation of the space in the body, the field of view obtained by the endoscope is poor, and in order to ensure that multiple surgical mechanical arms enter the patient's body from the same small incision, the arm parts located outside the body are distributed close to each other, increasing the risk of collision when the mechanical arms are adjusted before or during the operation, thereby increasing the risk of injury to the patient.

[0004] Furthermore, the space occupied by robotic arms near the bedside can hinder the surgeon's ability to assist and monitor the procedure in real time. Existing surgical robot systems typically employ multiple robotic arms mounted on the same platform, allowing for flexible positioning of surgical tools to the designated surgical location. However, the first joints of these multiple robotic arms in current technology often utilize a long arm combined with a vertical rotational joint to facilitate the subsequent movement of multiple joints in space. The arrangement of these first joints at the same horizontal level prevents the first segments of the positioning arms from overlapping, restricting their movement during surgery. This hinders the full utilization of the robotic arm's positioning capabilities and increases the risk of interference and collisions. Moreover, the large radius of the long arm results in a significant space occupation, impacting the surgeon's ability to assist and monitor the procedure at the bedside. It also makes it difficult to arrange other related equipment within the limited space, leading to low space utilization. Summary of the Invention

[0005] Based on the above problems, the purpose of this invention is to provide a multi-joint robotic arm assembly, which adopts a horizontal transverse arm at the initial joint, reduces the lateral space of the robotic arm by folding back, and is arranged in an overlapping manner and driven independently in a surgical robot robotic arm assembly. This robotic arm assembly can not only make more efficient use of the bedside space and the working space of the surgical robot robotic arm, but also can be well applied to the system design of multi-port, single-port, single-multi-port hybrid and / or natural cavity surgical robots and used in surgery; another purpose of this invention is to provide a surgical robot system containing this robotic arm assembly.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A multi-joint robotic arm assembly includes: at least one robotic arm, the distal portion of which is provided with an end effector and / or a camera device, the end effector being configured to perform surgical operations, the camera device being configured to acquire images, and at least one distal portion of the robotic arm being configured to extend into a patient's body through an incision.

[0008] As a preferred embodiment of the present invention, the distal portion of the robotic arm is provided with an end effector and a camera device that can move relative to each other.

[0009] As a preferred embodiment of the present invention, the distal portion of the robotic arm includes a flexible continuum structure, the flexible continuum structure including at least one proximal continuum and at least one distal continuum;

[0010] The proximal continuum includes a proximal base plate, a first proximal stop plate, and a second proximal stop plate, which are arranged at intervals.

[0011] a first structural bone, a proximal end of the first structural bone is fixedly connected with the second proximal end stop, and a distal end of the first structural bone is fixedly connected with the proximal base after penetrating through the first proximal end stop;

[0012] the distal end continuum comprises a distal base and a distal end stop which are arranged in a spaced manner, and the distal base is adjacent to the proximal base;

[0013] a second structural bone, a proximal end of the second structural bone is fixedly connected with the first proximal end stop, and a distal end of the second structural bone is fixedly connected with the distal end stop after penetrating through the proximal base and the distal base;

[0014] the distal end stop is connected with the end effector and / or camera device;

[0015] By adopting the flexible continuum structure, the plurality of mechanical arms can move flexibly and smoothly pass through one or more incisions to enter the patient's body.

[0016] As a preferred scheme of the present application, the distal end part of the mechanical arm comprises a flexible continuum structure, and the flexible continuum structure comprises at least one proximal end continuum and at least one distal end continuum;

[0017] the proximal end continuum comprises a proximal base, a second proximal end stop and a first structural bone;

[0018] the distal end continuum comprises a distal base, a distal end stop and the first structural bone;

[0019] a proximal end of the first structural bone is fixedly connected with the second proximal end stop, and a distal end of the first structural bone is fixedly connected with the distal end stop in sequence after penetrating through the proximal base and the distal base;

[0020] the distal end stop is connected with the end effector and / or camera device.

[0021] As a preferred scheme of the present application, the distal end part of the mechanical arm comprises a flexible continuum structure, and the flexible continuum structure comprises at least one distal end continuum;

[0022] the distal end continuum comprises a distal base, a distal end stop and a structural bone, the distal base and the distal end stop are arranged in a spaced manner, a proximal end of the structural bone is connected with the distal base, and a distal end of the structural bone is fixedly connected with the distal end stop;

[0023] the distal end stop is connected with the end effector and / or camera device.

[0024] As a preferred scheme of the present application, the distal end part of each of the mechanical arms is provided with a driving mechanism, which is located at the proximal end of the flexible continuum structure and is configured to drive the flexible continuum structure to move.

[0025] As a preferred scheme of the present application, the mechanical arms comprise:

[0026] At least one first mechanical arm, the distal end part of which is connected with an end effector, and at least one second mechanical arm, the distal end part of which is connected with a camera device;

[0027] The distal end part of each of the at least one first mechanical arm and the at least one second mechanical arm is configured to extend into the patient's body from the same incision.

[0028] As a preferred scheme of the present application, the number of the first mechanical arms is three, and the number of the second mechanical arms is one, and the distal end part of each of the first mechanical arms and the second mechanical arms is configured to extend into the patient's body from the same incision.

[0029] As a preferred scheme of the present application, the proximal end part of each of the first mechanical arms and the second mechanical arms has a plurality of horizontal cross arms and a plurality of horizontal cross arm rotation joints, each of the horizontal cross arms comprises a proximal end part and a distal end part, the plurality of horizontal cross arms are sequentially connected in a head-to-tail manner at the proximal end parts and the distal end parts respectively by the horizontal cross arm rotation joints, and two adjacent horizontal cross arms are rotatable relative to each other about a vertical axis.

[0030] As a preferred scheme of the present application, the distal end part of the proximal horizontal cross arm and the proximal end part of the distal horizontal cross arm of the two adjacent horizontal cross arms are connected by the horizontal cross arm rotation joint, and the distal end part of the proximal horizontal cross arm is located above the proximal end part of the distal horizontal cross arm.

[0031] As a preferred scheme of the present application, the proximal end part of the proximal-most horizontal cross arm of one of the first mechanical arms is connected with a turntable on a surgical trolley through a first horizontal cross arm rotation joint.

[0032] The proximal end part of the proximal-most horizontal cross arm of the second mechanical arm is also connected with the turntable through a second horizontal cross arm rotation joint.

[0033] The rotation axis of the first horizontal cross arm rotation joint is coaxially arranged with the rotation axis of the second horizontal cross arm rotation joint, so that the second horizontal cross arm rotation joint of the second mechanical arm is overlaid above the first horizontal cross arm rotation joint of the first mechanical arm.

[0034] The first mechanical arms and the second mechanical arms form a first mechanical arm group.

[0035] As a preferred scheme of the present application, the first mechanical arm is three, and the proximal end of the proximal-most horizontal cross arm of the other two first mechanical arms is connected with the rotating table on the operating trolley through a first horizontal cross arm rotating joint;

[0036] The rotating shafts of the two first horizontal cross arm rotating joints are coaxially arranged, so that the first horizontal cross arm rotating joint of one of the first mechanical arms is stacked above the first horizontal cross arm rotating joint of the other first mechanical arm.

[0037] The two first mechanical arms form a second mechanical arm group.

[0038] As a preferred scheme of the present application, the first mechanical arm group and the second mechanical arm group are arranged on the same operating trolley, and are mirror-symmetric with respect to the symmetry plane of the rotating table of the operating trolley.

[0039] As a preferred scheme of the present application, the first mechanical arm group and the second mechanical arm group are arranged on the rotating tables of two different operating trolleys respectively.

[0040] As a preferred scheme of the present application, the first mechanical arm and / or the second mechanical arm further comprises:

[0041] A vertical arm and a vertical arm rotating joint, the vertical arm is arranged to be movable up and down, and the proximal end of the vertical arm is connected to the distal end of the most distal horizontal cross arm of the plurality of horizontal cross arms through the vertical arm rotating joint to rotate around a vertical axis relative to the distal end of the most distal horizontal cross arm.

[0042] An inclined arm and an inclined arm rotating joint, wherein the proximal end of the inclined arm is connected to the distal end of the vertical arm through the inclined arm rotating joint, and the rotating axis of the inclined arm rotating joint is angled relative to the vertical direction.

[0043] A point position adjusting linkage assembly, the proximal end of the point position adjusting linkage assembly is rotatably connected with the distal end of the inclined arm.

[0044] A linear driving device, which is slidingly arranged at the distal end of the point position adjusting linkage assembly.

[0045] A surgical tool, which is arranged on the linear driving device, and the distal end of the surgical tool on the first mechanical arm is provided with an end effector, and the distal end of the surgical tool on the second mechanical arm is provided with a camera.

[0046] As a preferred scheme of the present application, each of the horizontal cross arm rotating joint, the vertical arm rotating joint and the inclined arm rotating joint comprises a driving mechanism, a speed reducer and a synchronous transmission belt, the synchronous transmission belt transmitting rotation of an output shaft of the driving mechanism to an input shaft of the speed reducer, an output shaft of the speed reducer being arranged to drive the corresponding horizontal cross arm, vertical arm or inclined arm to rotate.

[0047] As a preferred scheme of the present application, each of the rotating joints further comprises a brake mechanism coaxially arranged with the input shaft of the speed reducer, the brake mechanism being arranged to be applied to brake the input shaft of the speed reducer in a power-off state and to be released to unlock the input shaft of the speed reducer in a power-on state.

[0048] A transmission gear coaxially fixedly connected with the output shaft of the driving mechanism and an angle encoder or a potentiometer engaged with the transmission gear for recording and feeding back the motion state of each of the rotating joints.

[0049] As a preferred scheme of the present application, the speed reducer input shaft of the second horizontal cross arm rotating joint and the speed reducer of the first horizontal cross arm rotating joint are each provided with a through channel along a rotating center axis, a support shaft fixedly connected to the rotating table penetrates through the through channel and is fixedly connected at a lower end to the speed reducer of the first horizontal cross arm rotating joint, so as to connect the horizontal cross arm closest to the first mechanical arm to the rotating table, and to make the horizontal cross arm closest to the first mechanical arm and the horizontal cross arm closest to the second mechanical arm be connected to the rotating table independently of each other.

[0050] A surgical robot system comprising a surgical trolley, a master trolley and a multi-joint mechanical arm group as described above, the multi-joint mechanical arm group being installed on a rotating table of the surgical trolley.

[0051] The master trolley is coupled to the multi-joint mechanical arm group to tele-operate the multi-joint mechanical arm group when an operator operates the master trolley.

[0052] As a preferred scheme of the present application, the surgical robot system further comprises a sheath.

[0053] The sheath comprises a plurality of curved segments at a proximal end and a straight segment at a distal end, the straight segment being arranged to be inserted into a patient through the incision.

[0054] The straight segment has a plurality of through channels extending along a longitudinal axis and arranged at intervals from each other, the number of the through channels being greater than or equal to the number of the mechanical arms, the through channels being arranged to allow the distal end portions of the mechanical arms to penetrate therethrough.

[0055] Each of the curved segments is tubular and communicates with each of the through passages.

[0056] As a preferred scheme of the present application, a plurality of the curved segments are arranged in parallel or crosswise.

[0057] As a preferred scheme of the present application, at least one of the curved segments is deformable, and the deformation includes deformation in the radial and / or axial direction of the curved segment.

[0058] Some embodiments of the present application have one or more of the following advantages: 1. Compared with the conventional rigid kinematic chain which realizes bending motion by rotating relative to each other at the joints, the mechanical arm of the present application adopts a flexible continuum structure, and the structure main body simultaneously becomes a transmission structure of driving, so that a very high degree of freedom configuration can be realized in a small size space range, and thus the distal end parts of multiple mechanical arms can enter the patient's body from the same incision or two or more incisions, i.e. suitable for single-hole, single-multiple-hole hybrid and / or natural orifice transluminal surgical robot systems. 2. The horizontal cross arm is adopted at the initial joint of the mechanical arm of the present application, which reduces the transverse space of the mechanical arm in a folded-back manner, and the mechanical arm groups of the surgical robot are arranged in overlap and can be independently driven, so that the bed side space and the working space of the mechanical arm of the surgical robot can be more efficiently utilized. 3. The driving stop disc motion can be realized on each mechanical arm of the present application through a driving mechanism, the structure bone in the flexible continuum structure is pushed and pulled, the proximal continuum is bent, and finally the distal continuum is driven to bend in space at will, which avoids direct pushing and pulling of the structure bone, and when a large number of structure bones are driven, it is not limited by the number of driving mechanisms, and at the same time, the structure is compact, the principle is simple, and it is easy to realize, thereby having high reliability. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the contents of the embodiments of the present application and the drawings.

[0060] Figure 1 is a structural schematic diagram of a flexible continuum structure provided by the specific embodiment of the present application;

[0061] Figure 2 is a structural schematic diagram of another flexible continuum structure provided by the specific embodiment of the present application

[0062] Figure 3 is a structural schematic diagram of a multi-joint mechanical arm group surgical robot system provided by the specific embodiment of the present application;

[0063] Figure 4 is a structural schematic diagram of a mechanical arm provided by the embodiment of the present application;

[0064] Figure 5 is a structural schematic diagram of a multi-joint mechanical arm group provided by the embodiment of the present application;

[0065] Figure 6 is a partial structural schematic diagram of a rotary joint provided by the embodiment of the present application;

[0066] Figure 7 is a structural schematic diagram of a second horizontal cross arm rotary joint connected with a turntable provided by the embodiment of the present application;

[0067] Figure 8 is a structural schematic diagram of a first horizontal cross arm rotary joint connected with a turntable provided by the embodiment of the present application;

[0068] Figure 9 is a front view of a fixed point position adjusting linkage assembly provided by the embodiment of the present application;

[0069] Figure 10 is a rear view of a fixed point position adjusting linkage assembly provided by the embodiment of the present application;

[0070] Figure 11 is a perspective view of a fixed point position adjusting linkage assembly provided by the embodiment of the present application;

[0071] Figure 12 is a partial structural schematic diagram of a movable arm of a fixed point position adjusting linkage assembly provided by the embodiment of the present application;

[0072] Figure 13 is a structural schematic diagram of a multi-joint mechanical arm group surgical robot system provided by the embodiment of the present application;

[0073] Figure 14 is a partial enlarged structural schematic diagram of a multi-joint mechanical arm group provided by the embodiment of the present application;

[0074] Figure 15 is a structural schematic diagram of another multi-joint mechanical arm group surgical robot system provided by the embodiment of the present application;

[0075] Figure 16 is a partial enlarged structural schematic diagram of another multi-joint mechanical arm group provided by the embodiment of the present application;

[0076] Figure 17 is a partial enlarged structural schematic diagram of another multi-joint mechanical arm group provided by the embodiment of the present application;

[0077] Figure 18is a structural schematic diagram of the sheath provided by the embodiment of the present application;

[0078] Figure 19 is a top view of the sheath provided by the embodiment of the present application;

[0079] Figure 20 is a partial cross-sectional structural schematic diagram of the sheath provided by the embodiment of the present application;

[0080] Figure 21 is a structural schematic diagram of the sheath from another angle provided by the embodiment of the present application. EMBODIMENT

[0081] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0082] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0083] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0084] In the present application, the end close to the operator is the proximal end or the rear end, and the end close to the surgical patient is the distal end or the front end.

[0085] As Figure 1In the preferred embodiment shown, the distal portion of the robotic arm comprises a flexible continuum structure 43, which comprises at least one proximal continuum 431 and at least one distal continuum 432.

[0086] The proximal continuum 431 comprises a proximal base disc 4311, a first proximal stop disc 4312 and a second proximal stop disc 4313 arranged at intervals from each other; a first structure 4314, the proximal ends of a plurality of first structures 4314 being fixedly connected to the second proximal stop disc 4313, the distal ends of the plurality of first structures 4314 being fixedly connected to the proximal base disc 4311 after passing through the first proximal stop disc 4312. The distal continuum 432 comprises a distal base disc 4321 and a distal stop disc 4322 arranged at intervals from each other, and the distal base disc 4321 is adjacent to the proximal base disc 4311; a second structure 4323, the proximal ends of a plurality of second structures 4323 being fixedly connected to the first proximal stop disc 4312, the distal ends of the plurality of second structures 4323 being fixedly connected to the distal stop disc 4322 after passing through the proximal base disc 4311 and the distal base disc 4321. The distal stop disc (4322) is connected to the end effector and / or the camera.

[0087] In the above embodiment, preferably, the flexible continuum structure 43 comprises a structure guide tube bundle 433, the proximal end of the structure guide tube bundle 433 being connected to the proximal base disc 4311, the distal end of the structure guide tube bundle 433 being connected to the distal base disc 4322, and the distal ends of the plurality of second structures 4323 pass through the proximal base disc 4311, the structure guide tube bundle 433 and the distal base disc 4321 in sequence before being fixedly connected to the distal stop disc 4322. The function of the structure guide tube bundle 433 is to guide and constrain the second structures 4323 between the proximal base disc 4311 and the distal base disc 4322.

[0088] The flexible continuum structure provided by the above embodiment, when working, due to the fixation of the proximal base disc 4311, when a planar driving mechanism is applied to drive the second proximal stop disc 4313 to move in the same horizontal plane direction, makes the proximal base disc 4311 and the second proximal stop disc 4313 dislocated, and the axes of the two no longer coincide. Since the two ends of each first structural bone 4314 are fixed with the proximal base disc 4311 and the second proximal stop disc 4313 respectively, each first structural bone 4314 is forced to bend, thereby causing the proximal continuum 431 to produce a dual bending between the proximal end and the distal end; at the same time, the first proximal stop disc 4312 is turned over in coordination, thereby generating a push-pull on each second structural bone 4323 fixed on the first proximal stop disc 4312, and the second structural bones 4323 fixed on the first proximal stop disc 4312 are uniformly distributed in the circumferential direction, one side is pulled so that the corresponding second structural bone 4323 increases in length in the proximal continuum 431, and the other side is pressed so that the corresponding second structural bone 4323 decreases in length in the proximal continuum 431. However, the total length of each second structural bone 4323 does not change, and the length of each second structural bone 4323 in the structural bone guide tube bundle 433 does not change, resulting in a corresponding change in the length of each second structural bone 4323 in the distal continuum 432, thereby driving the distal continuum 432 to produce a reverse bending relative to the part of the proximal continuum 431 close to the proximal base disc 4311, thereby adjusting the position of the end effector or the camera. The bending ratio of the proximal continuum 431 and the distal continuum 432 is inversely proportional to the distribution radius of the corresponding second structural bone 4323 in them (in this embodiment, the second structural bones 4323 in the proximal continuum 431 and the distal continuum 432 are distributed in the circumferential direction, which can be distributed on the circumference or distributed in the matrix circumferential direction, and can be uniformly distributed or non-uniformly distributed, which is not limited here). In application, the distribution radius of the second structural bone 4323 in the proximal continuum 431 and the distal continuum 432 can be adjusted to meet the actual bending ratio requirement. Thus, by connecting the driving mechanism and the second proximal stop disc 4313 with a cylindrical pair, the second proximal stop disc 4313 can slide up and down or rotate relative to the driving mechanism, thereby satisfying the parasitic motion (up and down sliding) in the axial direction of the proximal continuum 431 when it is bent, and the bending motion (rotation) in any direction. Parasitic motion can avoid the telescopic motion of the distal continuum 432 in the axial direction during bending, which causes the envelope covering the outer circumference of the distal continuum 432 to wrinkle or be excessively stretched, affecting the service life of the envelope.

[0089] In the above embodiments, preferably, the proximal continuum 431 further comprises at least one first proximal retaining disk 4315 disposed between the first proximal stop disk 4312 and the second proximal stop disk 4313 and / or at least one second proximal retaining disk 4316 disposed between the proximal base disk 4311 and the first proximal stop disk 4312, each first structural rib 4314 passing through the first proximal retaining disk 4315, the first proximal retaining disk 4316 serving to radially support the first structural ribs 4314 from the first structural ribs 4314, such that each first structural rib 4314 remains parallel during bending deformation, preventing the first structural ribs 4314 from buckling during bending motion. The distal continuum 432 further comprises at least one distal retaining disk 4324 disposed between the distal base disk 4321 and the distal stop disk 4322, each second structural rib 4323 passing through the second proximal retaining disk 4316 and the distal retaining disk 4324 in turn, the second proximal retaining disk 4316 and the distal retaining disk 4324 serving to radially support the second structural ribs 4323 from the second structural ribs 4323, such that each second structural rib 4323 remains parallel during bending deformation, preventing the second structural ribs 4323 from buckling during bending motion.

[0090] As shown in the preferred embodiment, Figure 2 the distal portion of the robotic arm comprises a flexible continuum structure 43, the flexible continuum structure 43 comprising at least one proximal continuum 431 and at least one distal continuum 432.

[0091] The proximal continuum 431 includes a proximal base disk 4311, a second proximal stop disk 4313, and a plurality of first structural bones 4314. The distal continuum 432 includes a distal base disk 4321, a distal stop disk 4322, and the plurality of first structural bones 4314. The proximal ends of the plurality of first structural bones 4314 are fixedly connected to the second proximal stop disk 4313, and the distal ends of the plurality of first structural bones 4314 pass through the proximal base disk 4311 and the distal base disk 4321 in sequence and are fixedly connected to the distal stop disk 4322. The distal stop disk 4322 is connected to the end effector and / or the camera. It should be understood that when the second proximal stop disk 4313 is driven to move and turn over by the driving mechanism, the first structural bones 4314 are pushed and pulled, so that the distal continuum 432 bends in different directions in space, thereby adjusting the position of the end effector or the camera. Specifically, a driving connection part 434 can be provided. For example, the driving connection part 434 can be one of a universal joint, a spherical hinge, a hinge joint, or a combination of a universal joint and a spherical hinge. One end of the driving connection part 434 is connected to the proximal base disk 4311, the other end of the driving connection part 434 passes through and is connected to the second proximal stop disk 4313, the driving connection part 434 forms a free end at the proximal end portion of the second proximal stop disk 4313, and the driving mechanism is connected to the free end. Thus, the driving mechanism drives the driving connection part 434 to move, and in turn drives the flexible continuum structure 43 to move.

[0092] In the above embodiment, the proximal continuum 431 further includes at least one proximal retaining disk 4315 arranged between the proximal base disk 4311 and the second proximal stop disk 4313, and each first structural bone 4314 passes through the proximal retaining disk 4315 in sequence. Meanwhile, the distal continuum 432 further includes at least one distal retaining disk 4324 arranged between the distal base disk 4321 and the distal stop disk 4322, and each first structural bone 4314 also passes through the distal retaining disk 4324 in sequence. The proximal retaining disk 4315 and the distal retaining disk 4324 are used to support the first structural bones 4314 radially from the first structural bones 4314, so that each first structural bone 4314 remains parallel during bending deformation, preventing the first structural bones 4314 from losing stability during bending movement.

[0093] In the present embodiment, the distal portion of the robotic arm includes a flexible continuum structure 43, and the flexible continuum structure 43 includes at least one distal continuum 432. The distal continuum 432 includes a distal base disk 4321, a distal stop disk 4322, and a structural bone. The distal base disk 4321 and the distal stop disk 4322 are arranged at intervals, the proximal end of the structural bone is connected to the distal base disk 4321, and the distal end of the structural bone is fixedly connected to the distal stop disk 4322. The distal stop disk 4322 is connected to the end effector and / or the camera.

[0094] In the embodiment, the distal end of each of the mechanical arms is provided with a driving mechanism, which is located at the proximal end of the flexible continuum structure 43 and is configured to drive the flexible continuum structure 43 to move. Specifically, each of the mechanical arms is provided with a driving base at the proximal end of the flexible continuum structure 43, and the driving mechanism of each of the mechanical arms is arranged in the corresponding driving base. The driving mechanism can convert the rotary motion into linear motion, thereby driving the corresponding flexible continuum structure 43 to bend and turn. It should be understood that the driving mechanism can drive the structural bones penetrating through the second proximal end stop disc 4313 or the distal end base disc 4321 to move, and more preferably, the driving mechanism can directly drive the second proximal end stop disc 4313 or the distal end base disc 4321 to move, thereby avoiding direct pushing and pulling of the structural bones, and when a large number of structural bones are driven, the number of driving mechanisms is not limited, and the structure is compact, the principle is simple, and it is easy to implement, thereby having high reliability. For example, the driving mechanism can be a gear and rack mechanism, a gear sliding groove mechanism, a gear barrel mechanism, a worm and gear mechanism, a multi-link mechanism, etc. The driving mechanism converts the rotary motion into linear motion, thereby directly or indirectly driving the structural bones, and further realizing the bending motion of the flexible continuum structure 43.

[0095] In the above embodiment, preferably, the first structural bone 4314 and the second structural bone 4323 can be elastic rods or tubes made of super-elastic material, which can be generally made of high-strength, high-toughness and elastic metal materials such as nickel-titanium alloy; and the structural bone guide tube bundle 433 can be a steel tube bundle.

[0096] The embodiment provides a multi-joint mechanical arm group, which has at least one mechanical arm, the distal end of each of the mechanical arms is provided with an end effector and / or a camera, the end effector is configured to perform surgical operation, the camera is configured to acquire images, and the distal end of at least one of the mechanical arms is configured to extend into a patient from a single incision. It should be understood that the multi-joint mechanical arm group can include one, two or more mechanical arms, each of the mechanical arms can enter the patient through the same incision and the movements of the mechanical arms do not interfere with each other, the distal end of each of the mechanical arms can be provided with an end effector, or a camera, or both an end effector and a camera.

[0097] In another embodiment, the multi-joint mechanical arm group has at least a plurality of mechanical arms, and the distal ends of the plurality of mechanical arms are configured to extend into a patient from at least two incisions. In a specific embodiment, the distal end of at least one first mechanical arm 3 is configured to extend into a patient from a single incision, and the distal end of at least one second mechanical arm 4 is configured to extend into a patient from another incision.

[0098] In another embodiment, the distal end portions of the at least one first robotic arm 3 and the at least one second robotic arm 4 are configured to be inserted into the patient from one incision, and the distal end portion of the other first robotic arm 3 is configured to be inserted into the patient from another incision.

[0099] In one embodiment, the distal end portions of the at least one first robotic arm 3 and the at least one second robotic arm 4 are configured to be inserted into the patient from different incisions, respectively.

[0100] In the above embodiment, preferably, the number of the first robotic arms 3 is three, and the number of the second robotic arms 4 is one.

[0101] In the present embodiment, specifically, the distal end portion of each robotic arm is provided with the end effector and the camera device which are movable relative to each other. It can be understood that when the distal end portion of the robotic arm is provided with the end effector and the camera device simultaneously, the end effector and the camera device can be moved independently of each other, the camera device is adjusted in position and posture to capture the image of the field of view in the patient, and then the end effector is adjusted to the target position to facilitate the surgical operation.

[0102] As shown in FIGS. 1 to 3, Figure 3 , Figure 4 , Figure 5 , Figure 13 and Figure 15 , the present embodiment provides a multi-joint robotic arm group having at least one first robotic arm 3 and one second robotic arm 4, wherein the proximal end portions of the respective proximal-most horizontal cross arms of the first robotic arm 3 and the second robotic arm 4 are connected to the turntable 2 on the surgical trolley 1 through horizontal cross arm rotation joints, respectively, and the respective horizontal cross arm rotation joints are coaxially arranged in the vertical direction, so that the proximal end portion of the second robotic arm 4 is stacked above the proximal end portion of the first robotic arm 3, the distal end portion of the first robotic arm 3 is connected with an end effector, the distal end portion of the second robotic arm 4 is connected with a camera device, and the distal end portions of the at least one first robotic arm 3 and the second robotic arm 4 are inserted into the patient through at least two incisions. Specifically, the number of the first robotic arms 3 can be two, three or more. By using the horizontal cross arm at the initial joint, the proximal end portions of the robotic arms are arranged in an overlapped manner and can be independently driven, which can not only reduce the occupied space of the robotic arms, but also avoid motion interference between the arm bodies.

[0103] The distal end portion of the first robotic arm 3 is connected with an end effector, and the end effector is configured to perform a surgical operation. Specifically, the end effector can be a clamp, scissors or a gripper, etc. The distal end portion of the second robotic arm 4 is connected with a camera device, and the camera device is configured to obtain an image. It can be understood that the camera device can be an endoscope for obtaining the image of the field of view in the patient.

[0104] Another embodiment provides a multi-joint robot arm group, which comprises: at least one first robot arm 3 and one second robot arm 4, the proximal end portions of the first robot arm 3 and the second robot arm 4 each have a plurality of horizontal cross arms and a plurality of horizontal cross arm rotation joints, each horizontal cross arm comprises a proximal end portion and a distal end portion, the plurality of horizontal cross arms are sequentially connected in a head-to-tail manner at the respective proximal end portions and the respective distal end portions by the respective cross arm rotation joints, and two adjacent horizontal cross arms are rotatable relative to each other about a vertical axis.

[0105] As shown in the embodiments shown in Figure 4 , Figure 5 and Figure 13 , the multi-joint robot arm group comprises one first robot arm 3 and one second robot arm 4, the proximal end portions of the first robot arm 3 and the second robot arm 4 each have two horizontal cross arms and two horizontal cross arm rotation joints, i.e. the proximal-most horizontal cross arm 31 and the distal-most horizontal cross arm 32 of the first robot arm 3, the proximal-most horizontal cross arm 41 and the distal-most horizontal cross arm 42 of the second robot arm 4, the proximal end portion of the horizontal cross arm 31 is rotatably connected to the turntable 2 on the surgical trolley 1 by a first horizontal cross arm rotation joint, the proximal end portion of the horizontal cross arm 41 is rotatably connected to the turntable 2 on the surgical trolley 1 by a second horizontal cross arm rotation joint, and the rotation axes of the first horizontal cross arm rotation joint and the second horizontal cross arm rotation joint are coaxially arranged in the vertical direction, so that the proximal end portion of the horizontal cross arm 41 is stacked above the proximal end portion of the horizontal cross arm 31, the distal end portion of the horizontal cross arm 31 is stacked above the proximal end portion of the horizontal cross arm 32, and the distal end portion of the horizontal cross arm 41 is stacked above the proximal end portion of the horizontal cross arm 42, and the first robot arm 3 and the second robot arm 4 form a first robot arm group.

[0106] It should be understood by those skilled in the art that in other embodiments, the first robot arm 3 and one second robot arm 4 can also have a plurality of horizontal cross arms and a plurality of horizontal cross arm rotation joints, for example three or four, etc., which can be set according to actual needs. In addition, the distal end portion of the proximal horizontal cross arm and the proximal end portion of the distal horizontal cross arm in the two adjacent horizontal cross arms are hinged by the horizontal cross arm rotation joint, and the distal end portion of the proximal horizontal cross arm is located above the proximal end portion of the distal horizontal cross arm, so that each horizontal cross arm can rotate relative to each other about an axis in the vertical direction. By using horizontal cross arms at the initial joints and reducing the lateral space of the robot arm in a folded-back manner, the bed side space and the surgical robot arm working space can be more efficiently utilized.

[0107] In the present embodiment, as shown in Figure 13 and Figure 14As shown, the first mechanical arm 3 and the second mechanical arm 4 are arranged on the same operating trolley 1, and the distal end portions of the first mechanical arm 3 and the second mechanical arm 4 are arranged to be able to extend into the patient's body from one incision. In actual operation, by inserting a sheath with two channels at the incision of the patient's abdominal cavity, and then adjusting the positions of the trolley and the mechanical arms to extend the distal end portions of the first mechanical arm 3 and the second mechanical arm 4 into the patient's body through the channels of the sheath, a single-port laparoscopic surgical operation is realized to reduce the number of incisions of the patient. It can be understood that in other embodiments, such as Figure 15 As shown, the number of the first mechanical arm 3 can be two, and the number of the second mechanical arm 4 can be one, and the first mechanical arm 3 and the second mechanical arm 4 are arranged on the same trolley and enter the patient's body through the same incision. In other embodiments, the first mechanical arm 3 and the second mechanical arm 4 can also be arranged on different operating trolleys 1, and the number of the first mechanical arm 3 can also be three or more, and the distal end portions of the plurality of first mechanical arms 3 and the second mechanical arm 4 all enter the patient's body through the same incision.

[0108] In Figure 3 As shown in the preferred embodiment, the number of the first mechanical arm 3 is three, and the three first mechanical arms 3 and the second mechanical arm 4 are arranged on the same operating trolley 1, and the proximal end portions of one of the first mechanical arms 3 and the second mechanical arm 4 are stacked on each other to form a first mechanical arm group, and the proximal end portions of the horizontal cross arms of the other two first mechanical arms 3 are connected to the rotating table 2 on the operating trolley 1 through the first horizontal cross arm rotating joints. The rotating shafts of the two first horizontal cross arm rotating joints are coaxially arranged in the vertical direction, so that the first horizontal cross arm rotating joint of one of the first mechanical arms 3 is stacked above the first horizontal cross arm rotating joint of the other first mechanical arm 3, and the two first mechanical arms 3 form a second mechanical arm group. Further, the first mechanical arm group and the second mechanical arm group are arranged on the same operating trolley 1 and are mirror-symmetric with respect to the symmetry plane of the rotating table 2 of the operating trolley 1. It should be understood that in other embodiments, the first mechanical arm group and the second mechanical arm group can be arranged on the rotating tables 2 of two operating trolleys 1, respectively.

[0109] As Figure 17 shown, in actual operation, the positions of the operating trolley and the mechanical arms are adjusted so that the distal end portions of the three first mechanical arms 3 and the second mechanical arm 4 all enter the patient's body through the same incision to realize a single-port laparoscopic surgical operation. Due to the stacking manner, the transverse space of the mechanical arms is reduced, and the movements of the mechanical arms when driven independently do not interfere with each other, so that not only the bed side space and the operating robot mechanical arm working space can be more efficiently utilized, but also the risk of interference and collision between the mechanical arms can be reduced.

[0110] It should be understood that in other embodiments, such as Figure 16As shown, the distal end portions of the three first mechanical arms 3 and the second mechanical arm 4 can also enter the patient's body through at least two incisions. Specifically, the distal end portion of one of the first mechanical arms 3 enters the patient's body from one incision, the distal end portions of the other two first mechanical arms 3 and the second mechanical arm 4 enter the patient's body from another incision, or the distal end portion of the second mechanical arm 4 enters the patient's body through one incision, and the distal end portions of the three first mechanical arms 3 enter the patient's body from another incision, so that single-multiple hole hybrid operation can be achieved, which can not only reduce the number of incisions for multiple hole operation, but also avoid the limited field of view of single hole operation. It should be understood that at least one first mechanical arm 3 and one second mechanical arm 4 enter the patient's body through different combinations from two incisions, which do not deviate from the scope of the present embodiment.

[0111] In the present embodiment, preferably, as shown, Figures 3-5 As shown, the first mechanical arm 3 and the second mechanical arm 4 further comprise: a vertical arm 33 arranged to be movable up and down, a proximal end portion of the vertical arm 33 being connected to a distal end portion of the most distal horizontal arm of the plurality of horizontal arms through a vertical arm rotation joint to rotate relative to the distal end portion of the most distal horizontal arm about a vertical axis; an inclined arm 34 and an inclined arm rotation joint, wherein a proximal end portion of the inclined arm 34 is connected to a distal end portion of the vertical arm 33 through the inclined arm rotation joint, and a rotation axis of the inclined arm rotation joint is angled relative to the vertical direction; a point position adjusting linkage assembly 35, a proximal end portion of the point position adjusting linkage assembly 35 being rotatably connected to a distal end portion of the inclined arm 34; a linear driving device 36, the linear driving device 36 being slidingly arranged at a distal end portion of the point position adjusting linkage assembly 35; and a surgical tool 37, the surgical tool 37 being arranged on the linear driving device 36, a distal end of the surgical tool 37 on the first mechanical arm 3 being provided with an end effector, and a distal end of the surgical tool 37 on the second mechanical arm 4 being provided with a camera.

[0112] Specifically, the vertical arm 33 comprises a vertical arm outer cylinder 332 and a vertical arm inner cylinder 331 which can move relatively in the vertical direction, for the first mechanical arm 3, the vertical arm inner cylinder 331 is connected to the lower part of the distal end of the most distal horizontal cross arm 32 through a vertical arm rotary joint, for the second mechanical arm 4, the vertical arm inner cylinder 331 is connected to the lower part of the distal end of the most distal horizontal cross arm 42 through a vertical arm rotary joint. In order to realize the relative movement mentioned above, a driving motor or a motor can be arranged in the vertical arm inner cylinder 331, the output end of the motor is fixedly connected with a motion conversion mechanism, and the output end of the motion conversion mechanism is fixedly connected with the vertical arm outer cylinder 332. When the motor works normally, the rotary motion of the motor is converted into linear motion through the motion conversion mechanism, so as to drive the vertical arm outer cylinder 332 to move up and down, so as to realize the relative movement between the vertical arm outer cylinder 332 and the vertical arm inner cylinder 331. Of course, the vertical arm outer cylinder 332 can also be connected to the lower part of the distal end of the horizontal cross arm 32 or 42 through a vertical arm rotary joint, and the driving motor or the motor drives the vertical arm inner cylinder 331 to move up and down, so as to realize the relative movement between the vertical arm outer cylinder 332 and the vertical arm inner cylinder 331.

[0113] As shown in Figure 4 The proximal end of the inclined arm 34 is connected to the vertical arm outer cylinder 332 through an inclined arm rotary joint, and the rotary axis of the inclined arm rotary joint does not coincide with the rotary axis of the vertical arm rotary joint. Specifically, there is a certain angle between the rotary axis of the inclined arm rotary joint and the rotary axis of the vertical arm rotary joint, so that the inclined arm 34 can swing relative to the vertical arm 33. It can be understood that the angle of the rotary axis of the inclined arm rotary joint relative to the vertical direction can be between 0-90°, and preferably the angle between them is 45°.

[0114] Through the horizontal cross arm rotary joints and the vertical arm rotary joints, the rotary motion of the horizontal cross arm along the vertical axis in the horizontal direction is driven, the horizontal position adjustment of the mechanical arm is realized, the vertical position adjustment of the mechanical arm is realized through the vertical arm 33, the lateral rotary motion of the inclined arm 34 is driven through the inclined arm rotary joint, and the lateral swing position adjustment of the mechanical arm is realized. The in-vivo positioning of the mechanical arm is realized through a plurality of joints to meet the position adjustment requirements before or during the operation, so as to facilitate the development of the operation work.

[0115] Figures 9 to 11 The front view, the rear view and the perspective view of the fixed-point position adjustment linkage assembly 35 are respectively shown. From Figures 9-12As shown in the figure, the fixed-point position adjusting linkage assembly 35 comprises a first movable arm 111, a proximal end of the first movable arm 111 being rotatably connected to the inclined arm 34 through a first movable joint I; a second movable arm 112, a proximal end of the second movable arm 112 being rotatably connected to a distal end of the first movable arm 111 through a second movable joint II, and a distal end of the second movable arm 112 having a third movable joint III for connecting a linear driving device 36, the linear driving device 36 being connected with a linearly movable surgical tool 37; three reduction gears being respectively arranged on the three movable joints, wherein a first reduction gear 114-1 is located at the proximal end of the first movable arm 111, an output shaft of the first reduction gear 114-1 driving the rotation of the first movable joint I, a second reduction gear 114-2 being located at the distal end of the first movable arm 111 and the proximal end of the second movable arm 112, an output shaft of the second reduction gear 114-2 driving the rotation of the second movable joint II, and a third reduction gear 114-3 being located at the distal end of the second movable arm 112, an output shaft of the third reduction gear 114-3 driving the rotation of the third movable joint III; two first transmission belts 113 being respectively connected between the input shaft of the first reduction gear 114-1 and the input shaft of the second reduction gear 114-2 and between the input shaft of the second reduction gear 114-2 and the input shaft of the third reduction gear 114-3. Thus, the first movable arm 111 and the second movable arm 112 form an RCM mechanism of equivalent double parallelogram structure through the two first transmission belts 113, so as to realize the telecentric fixed-point movement of the linear driving device 36 mounted at the distal end of the second movable arm 112. Since the surgical tool 37 can linearly slide with the linear driving device 36, the surgical tool 37 can also be ensured to move through a fixed point. It should be understood that different surgical tools 37 can be replaced on the linear driving device 36 according to needs, for example, the distal end of the surgical tool 37 can be provided with different kinds of end effectors or endoscopes.

[0116] Preferably, the three reduction gears in the fixed-point position adjusting linkage assembly 35 can all be harmonic reducers, each of the harmonic reducers having a rotating shaft, a transmission pulley being coaxially mounted on the rotating shaft of the harmonic reducer, and the rotating shafts of adjacent two harmonic reducers being connected through the transmission pulley and the first transmission belt 113. Thus, when the rotating shaft of the first harmonic reducer rotates under the driving of driving force, the first transmission belt 113 connected with the transmission pulley on the rotating shaft of the first harmonic reducer obtains the same speed movement, the rotating shaft of the first harmonic reducer outputs the rotational angular velocity of the first movable joint I at a certain multiple, at the same time, the first harmonic reducer drives the rotating shaft of the second harmonic reducer to move at the same speed through the first transmission belt 113, the rotating shaft of the second harmonic reducer outputs the rotational angular velocity of the second movable joint II at a certain multiple, since the second harmonic reducer is connected with the third harmonic reducer through another first transmission belt 113, the second harmonic reducer drives the rotating shaft of the third harmonic reducer to move at the same speed through another first transmission belt 113, the rotating shaft of the third harmonic reducer outputs the rotational angular velocity of the third movable joint III at a certain multiple, and further controls the rotation of the linear driving device 36 around the third movable joint III.

[0117] Preferably, the point position adjusting linkage assembly 35 further comprises a transmission wheel 116, a second brake mechanism 118, a second transmission belt 117, a motor or an electric motor 115, an angle encoder or a potentiometer 119. The motor 115 and the transmission wheel 116 are arranged in the inclined arm 34, the transmission wheel 116 is coaxially fixedly connected with the output shaft of the motor 115, one end of the second transmission belt 117 is wrapped around the transmission wheel 116, and the other end of the second transmission belt 117 is wrapped around the input end of the first speed reduction wheel 114-1 located at the proximal end of the first movable arm 111, so as to transmit the power of the motor 115 to the input end of the first speed reduction wheel 114-1. The second brake mechanism 118 is coaxially arranged at at least one speed reduction wheel. The second brake mechanism 118 is also a brake, which is braked to lock the speed reduction wheel in the power-off state, and is released to unlock the speed reduction wheel in the power-on state. The angle encoder or the potentiometer 119 is arranged on at least one of the speed reduction wheels and / or the transmission wheel, and is used to record and feedback the movement state of the point position adjusting linkage assembly 35. The second brake mechanism 118 is coaxially arranged at at least one speed reduction wheel (which can be a brake, such as the “stop brake mechanism” disclosed in the invention patent with the application number 201811524271.1), and is braked to lock the speed reduction wheel in the power-off state, and is released to unlock the speed reduction wheel in the power-on state, thereby further improving the overall stability of the point position adjusting linkage assembly 35 to overcome the problem of poor stability after replacing the rigid parallelogram with a transmission belt. Preferably, the first transmission belt 113 and the second transmission belt 117 comprise various transmission chains, flexible synchronous belts or rigid synchronous belts, etc. Preferably, the on-off and / or operation switches of each second brake mechanism 118 are arranged on the linear driving device 36. When the operator needs to manually adjust the posture of the point position adjusting linkage assembly 35, the corresponding second brake mechanism 118 associated with the on-off and / or operation switch is powered on and released in the posture of being movable, and the brake mechanism is powered off and braked in the posture of being fixed after the on-off and / or operation switch is released.

[0118] Therefore, the position adjustment of each mechanical arm is realized through the above multiple horizontal cross arms, multiple rotary joints, the vertical arm 33, the inclined arm 34 and the point position adjusting linkage assembly 35, so that the surgical tools 37 on each mechanical arm can pass through a certain point when rotated in multiple reference directions, and the distal end portions of the multiple surgical tools 37 can simultaneously pass through the same incision or more than two different incisions to enter the patient's body, and then the linear driving device 36 adjusts the feeding and retreating of the surgical tools 37, so as to facilitate the position adjustment of the surgical tools 37 along the axis during the operation.

[0119] In a specific embodiment, as Figures 6-8As shown, further, each of the horizontal cross arm rotary joint, the vertical arm rotary joint, and the inclined arm rotary joint comprises a driving mechanism 5, a speed reducer 6, and a synchronous transmission belt 7. The output shaft of the driving mechanism 5 (e.g. a motor or an electric motor) is coaxially fixedly connected with a pulley around which the synchronous transmission belt 7 is wound. The synchronous transmission belt 7 transmits the rotation of the output shaft of the driving mechanism 5 to the input shaft of the speed reducer 6. The output shaft of the speed reducer 6 is arranged to drive the corresponding horizontal cross arm, vertical arm 33 or inclined arm 34 to rotate. It should be understood that the synchronous transmission belt 7 can be a belt or a chain, or other structures capable of achieving motion transmission. In the embodiment, preferably, the speed reducer 6 is a harmonic reducer. The housing of the speed reducer 6 is fixedly arranged. The output end and the input end of the speed reducer 6 are rotatable relative to the housing of the speed reducer 6.

[0120] Preferably, each rotary joint further comprises a brake mechanism 8 coaxially arranged with the input shaft of the speed reducer 6. The brake mechanism 8 is arranged to be applied to brake in a power-off state to lock the input shaft of the speed reducer 6, and to be released in a power-on state to unlock the input shaft of the speed reducer 6. A transmission gear 9 is coaxially fixedly connected with the output shaft of the driving mechanism 5. An angle encoder 10 or a potentiometer is engaged with the transmission gear 9 for recording and feeding back the motion state of each rotary joint. It should be understood that the transmission gear 9 can also be coaxially fixedly arranged on the input shaft of the speed reducer 6. The transmission gear 9 and the angle encoder 10 can also achieve synchronous motion through a pulley.

[0121] It can be understood that the brake mechanism 8 is applied to brake in a power-off state to lock the input shaft of the speed reducer 6, and to be released in a power-on state to unlock the input shaft of the speed reducer 6. The brake mechanism 8 is applied to brake. In a power-on state, the brake is in a working state, i.e. in an unlocked state, so that the motion input of the driving mechanism 5 can be transmitted to the speed reducer 6 through the input shaft of the speed reducer 6, and then drive the motion of the corresponding arm body. In a power-off state, the brake is in a closed state, i.e. the corresponding arm body is in a locked state without power control. At this time, the motion input of the driving mechanism 5 cannot be transmitted to the speed reducer 6, and the corresponding arm body cannot be moved. Thus, the safety of the system is improved, and harm caused by accidental movement is avoided. The output shaft of the driving mechanism 5 drives the motion of the input shaft of the speed reducer 6 through the synchronous transmission belt 7 to form a high-speed rotary motion of the input end of the speed reducer 6. The high-speed rotary motion of the input end of the speed reducer 6 is transmitted through the speed reducer 6 to convert into an output torque of the output end of the speed reducer 6 which is proportional to the torque and has a lower speed, so that the output end of the speed reducer 6 produces relative rotation relative to the housing of the speed reducer 6, thereby producing relative rotary motion between the corresponding arm bodies, which serves as a rotary joint.

[0122] Preferably, the second horizontal arm rotary joint decelerator input shaft 61 and the first horizontal arm rotary joint decelerator 6 in the embodiment are each provided with a through channel along the rotation center axis, and the support shaft 202 fixedly connected to the rotating table 2 penetrates the through channel and is fixedly connected to the first horizontal arm rotary joint decelerator 6 at the lower end, so as to connect the horizontal arm 31 closest to the first mechanical arm 3 to the rotating table 2, so that the horizontal arm 31 closest to the first mechanical arm 3 and the horizontal arm 41 closest to the second mechanical arm 4 are independently connected to the rotating table 2 and their respective movements do not affect each other.

[0123] The embodiment also provides a surgical robot system, which comprises a surgical trolley 1, a master trolley (not shown in the figure) and the multi-joint mechanical arm group described above, and the multi-joint mechanical arm group is installed on the rotating table 2 of the surgical trolley 1. The master trolley is connected to the multi-joint mechanical arm group to remotely operate the multi-joint mechanical arm group when an operator operates the master trolley. In a specific embodiment, as shown in Figure 3 、 Figure 7 and Figure 8 , the rotating table 2 comprises a rotating table framework 201, a support shaft 202 and a support shaft fixing seat 203, the support shaft fixing seat 203 is fixedly connected to the rotating table framework 201 by, for example, a bolt set, and one end of the support shaft 202 is fixedly arranged on the support shaft fixing seat 203. The horizontal arm 41 is connected to the rotating table framework 201 through the second horizontal arm rotary joint, and the horizontal arm 31 is connected to the support shaft fixing seat 203 through the first horizontal arm rotary joint.

[0124] In an embodiment, as shown in Figure 3 , preferably, the number of the first mechanical arms 3 is three, one of the first mechanical arms 3 and the second mechanical arm 4 form a first mechanical arm group, and the other two first mechanical arms 3 form a second mechanical arm group, and the first mechanical arm group and the second mechanical arm group are mirror-symmetrically arranged. The number of the support shafts 202 of the rotating table 2 is two, and one end of each of the two support shafts 202 is fixedly and symmetrically arranged on the support shaft fixing seat 203 of the rotating table 2, the horizontal arm 41 is connected to the rotating table framework 201 through the second horizontal arm rotary joint, and the horizontal arm 31 is connected to one of the support shafts 202 through the first horizontal arm rotary joint, and the two horizontal arms 31 of the other two first mechanical arms 3 are respectively connected to the rotating table framework 201 and the other support shaft 202 through the horizontal arm rotary joint.

[0125] As shown in Figures 18-21As shown, in the present embodiment, the surgical robot system further comprises a sheath 13. The sheath 13 comprises a plurality of curved segments at the proximal end and a straight segment at the distal end, the straight segment is configured to be inserted into the patient through the incision. The straight segment has a plurality of through channels extending along the longitudinal axis and arranged spaced apart from each other, the number of through channels is greater than or equal to the number of mechanical arms, and the plurality of through channels are arranged adjacent to each other at the distal end and gradually extend outward away from each other in the proximal direction, the through channels are configured to allow the distal portions of the mechanical arms to pass through, and each curved segment is tubular and communicates with each through channel. The curved segments are arranged to avoid interference between the plurality of mechanical arms due to the adjacent arrangement when passing through the sheath 13.

[0126] In a specific embodiment, the plurality of curved segments are arranged in parallel or intersected. Preferably, the plurality of curved segments are arranged in parallel, and the bending directions of the proximal ends of the curved segments are away from each other, so that the plurality of mechanical arms can smoothly pass through the sheath 13 into the patient without interfering with each other. It should be understood that the curved segments can be made of flexible or rigid materials.

[0127] Preferably, at least one curved segment is deformable, and the deformation includes radial and / or axial deformation of the curved segment.

[0128] In a specific embodiment, as shown, Figures 18-21 The sheath 13 comprises an outer shell 14, which is tubular and generally funnel-shaped, comprising a flared portion 141 at the top and a tapered portion 142 at the bottom, and the flared portion 141 and the tapered portion 142 are smoothly connected by the wall of the outer shell 14. It also comprises four sheath tubes 15, each sheath tube 15 forms a through channel, the distal ends of the sheath tubes 15 extend into the outer shell 14 and are arranged adjacent to each other, and the sheath tubes 15 extend through the tapered portion 142 of the outer shell 14, the proximal ends of the sheath tubes 15 extend out of the outer shell 14 from the flared portion 141, the sheath tubes 15 comprise inner sheath tube segments and outer sheath tube segments, the inner sheath tube segments are located in the outer shell 14; the outer sheath tube segments are located outside the outer shell 14, the outer sheath tube segments form curved segments, and the outer sheath tube segments are deformable, and the deformation includes radial and / or axial deformation of the sheath tube.

[0129] In other embodiments, the number of sheath tubes 15 is greater than or equal to the sum of the number of first mechanical arms 3 and the number of second mechanical arms 4. For example, when the number of first mechanical arms 3 is one, the number of sheath tubes 15 can be two, and when the number of first mechanical arms 3 is two, the number of sheath tubes 15 can be three. At this time, the distal portions of each first mechanical arm 3 and second mechanical arm 4 pass through each sheath tube 15 and then enter the patient from one incision.

[0130] In another embodiment, the number of first robotic arms 3 is one, and the first robotic arm 3 and the second robotic arm 4 enter the patient's body through two different incisions. At this time, the number of sheaths 13 is two, each sheath 13 has one sheath tube 15, i.e. one through channel, and the two sheaths 13 are inserted into the two incisions respectively for the first robotic arm 3 and the second robotic arm 4 to pass through.

[0131] In a specific embodiment, the first robotic arm group and the second robotic arm group can be arranged on the same operating trolley 1 or on two operating trolleys 1.

[0132] In another specific embodiment, as shown in Figure 3 and Figure 17 , the number of first robotic arms 3 is three, one of the first robotic arms 3 and the second robotic arm 4 form a first robotic arm group, and the other two first robotic arms 3 form a second robotic arm group, and the first robotic arm group and the second robotic arm group enter the patient's body through the same incision. At this time, the number of sheaths 13 is one, and the sheath 13 has four sheath tubes 15, i.e. four through channels, and each first robotic arm 3 and the second robotic arm 4 pass through each through channel to enter the patient's body. It should be understood that the first robotic arm group and the second robotic arm group can be arranged on the same operating trolley 1 or on two operating trolleys 1.

[0133] In use, the distal end portion of the surgical tool 37 can pass through the lumen of the sheath tube 15 and the lumen of the housing 14 to reach the predetermined surgical site. Since the outer sheath tube segment of the sheath tube 15 can be deformed, when the robotic arm carrying the surgical tool 37 is positioned and connected with the sheath tube 15, the sheath tube 15 can be deformed radially and / or axially. This deformation can compensate for the positioning error of the robotic arm caused by machine control precision or other reasons, so that the end effector or endoscope at the distal end of the surgical tool 37 can still pass through the lumen of the sheath tube 15 and the lumen of the housing 14 to reach the predetermined surgical site relatively smoothly even if there is a certain positioning error.

[0134] In the above embodiment, preferably, as shown in Figure 20 , the outer sheath tube segment of the sheath tube 15 has a telescopic tube 16, which can move telescopically in the axial direction of the sheath tube 15 to provide the deformation of the outer sheath tube segment in the axial direction of the sheath tube 15, thereby increasing the flexibility of the sheath tube 15 in the axial direction.

[0135] In the above embodiment, preferably, the telescopic tube 16 comprises a lower tube 161 and an upper tube 162 which can slide axially relative to the outer sheath segment of the sheath tube 15; further preferably, the upper tube 162 and the lower tube 161 can have different diameters, and the upper tube 162 and the lower tube 161 are movably sleeved together to realize axial telescoping of the telescopic tube 16; the telescopic tube 16 can be arranged at any position of the outer sheath segment of the sheath tube 15 as needed, for example, the telescopic tube 16 can be arranged at the end of the outer sheath segment away from the housing 14, the lower end of the lower tube 161 is fixedly connected to the end of the outer sheath segment, and the upper tube 162 has a larger diameter and is movably sleeved on the lower tube 161 to realize axial relative sliding of the two tubes along the outer sheath segment.

[0136] Preferably, as shown in Figure 21 the housing 14 is covered with a sealing cover 17 at the trumpet mouth 141, the sheath tube 15 can pass through the sealing cover 17, and the sealing cover 17 is deformable and can be made of a flexible material.

[0137] In the above embodiment, preferably, as shown in Figures 18-21 the sheath cover 13 further comprises at least one connecting member 18 arranged on the housing 14 and / or the sheath tube 15, and the connecting member 18 is used to connect the first mechanical arm 3 and / or the second mechanical arm 4 with the sheath cover 13.

[0138] In the above embodiment, preferably, the connecting member 18 can also be arranged on the telescopic tube 16, and the connecting member 18 can move axially with the telescopic tube 16 in the sheath tube 15, thereby improving the flexibility of the position of the connecting member 18 on the sheath tube 15 to facilitate connection of the connecting member 18 with the mechanical arm or the surgical tool 37.

[0139] In the above embodiment, preferably, the housing 14 is provided with at least one opening 143 which penetrates from the outer side wall of the housing 14 to the inner side wall of the housing 14, and the opening 143 can be an air hole for inflating the cavity of the housing 14 or an instrument hole for passing an auxiliary instrument.

[0140] In single-hole laparoscopic surgery, especially in master-slave remote control operation surgery, the mechanical arm needs to be moved (automatically or manually) during preoperative preparation, and the deformation of the outer sheath segment of the sheath tube 15 can provide a certain compensation for the positioning error, so that the mechanical arm can be smoothly connected to the sheath cover 13 even if the mechanical arm is not completely moved into position, and the distal end part of the surgical tool 37 mounted on the mechanical arm can still smoothly pass through the sheath tube 15 and the inner cavity of the housing 14 to enter the predetermined surgical site.

[0141] In addition, in the operation, due to the limitation of the operation field, it is possible to appear that the operation tool 37 needs to move as a whole with the sheath 15 in a relative position unchanged condition to realize the adjustment of the operation field, and the movement control precision is required to be higher, at this time, the outer sheath section of the sheath 15 can be deformed, the deformation can provide a certain in-place error due to the speed difference, accuracy and other reasons, and then realize the common movement of the operation tool 37 and the sheath 13.

[0142] It should be noted that the above are only the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A multi-joint robotic arm assembly, characterized in that, The application relates to a multi-joint robot arm group comprising: a plurality of mechanical arms, the plurality of mechanical arms comprising at least one first mechanical arm (3) and at least one second mechanical arm (4), a distal end part of the first mechanical arm (3) being connected with an end effector, and a distal end part of the second mechanical arm (4) being connected with a camera device; the distal end part of the at least one first mechanical arm (3) and the distal end part of the at least one second mechanical arm (4) being arranged to be capable of being inserted into a patient's body from the same incision; the end effector being arranged to be capable of performing a surgical operation, and the camera device being arranged to be capable of acquiring an image; the plurality of mechanical arms respectively comprising a plurality of joints for positioning the plurality of mechanical arms outside the body; the distal end part of the plurality of mechanical arms respectively comprising a flexible continuum structure (43), the end effector or the camera device being connected with a distal end disc (4322) of the flexible continuum structure (43); the distal end part of each of the mechanical arms being respectively provided with a driving mechanism, the driving mechanism being located at a proximal end of the flexible continuum structure (43) and being arranged to be capable of driving the flexible continuum structure (43) to bend and turn so as to adjust the position of the end effector or the camera device; the multi-joint robot arm group further comprising a sheath (13), the sheath (13) comprising a plurality of curved segments at a proximal end and a straight segment at a distal end, at least one of the curved segments comprising a telescopic pipe (16) capable of telescopic movement in the axial direction of the curved segment to realize deformation, the telescopic pipe (16) comprising a lower pipe (161) and an upper pipe (162) relatively sliding along the axis of the curved segment; when the mechanical arms are positioned and connected with the sheath (13), the deformation can compensate for the positioning error of the mechanical arms.

2. The multi-joint robot arm group according to claim 1, characterized in that, the flexible continuum structure (43) comprising at least one proximal continuum (431) and at least one distal continuum (432); the proximal continuum (431) comprising a proximal base disc (4311), a first proximal end disc (4312) and a second proximal end disc (4313), the three being arranged at intervals; a first structure bone (4314), a plurality of proximal ends of the first structure bone (4314) being fixedly connected with the second proximal end disc (4313), and a plurality of distal ends of the first structure bone (4314) being fixedly connected with the proximal base disc (4311) after penetrating through the first proximal end disc (4312); the distal continuum (432) comprising a distal base disc (4321) and a distal end disc (4322), the two being arranged at intervals, and the distal base disc (4321) being adjacent to the proximal base disc (4311); a second structure bone (4323), a plurality of proximal ends of the second structure bone (4323) being fixedly connected with the first proximal end disc (4312), and a plurality of distal ends of the second structure bone (4323) being fixedly connected with the distal end disc (4322) after penetrating through the proximal base disc (4311) and the distal base disc (4321); the distal end disc (4322) being connected with the end effector or the camera device.

3. The multi-joint robot arm group according to claim 1, characterized in that, The flexible continuum structure (43) comprises at least one proximal continuum (431) and at least one distal continuum (432); The proximal continuum (431) comprises a proximal base disc (4311), a second proximal stop disc (4313) and a first structural backbone (4314); The distal continuum (432) comprises a distal base disc (4321), a distal stop disc (4322) and the first structural backbone (4314); Proximal ends of a plurality of the first structural backbones (4314) are fixedly connected to the second proximal stop disc (4313), and distal ends of the plurality of the first structural backbones (4314) sequentially pass through the proximal base disc (4311) and the distal base disc (4321) and are fixedly connected to the distal stop disc (4322); The distal stop disc (4322) is connected to the end effector or the camera device.

4. The multi-joint robot arm group according to claim 1, characterized in that, The flexible continuum structure (43) comprises at least one distal continuum (432); The distal continuum (432) comprises a distal base disc (4321), a distal stop disc (4322) and a structural backbone, the distal base disc (4321) and the distal stop disc (4322) are arranged at intervals, proximal ends of the structural backbone are connected to the distal base disc (4321), and distal ends of the structural backbone are fixedly connected to the distal stop disc (4322); The distal stop disc (4322) is connected to the end effector or the camera device.

5. The multi-joint robotic arm bank of claim 1, wherein, The number of the first mechanical arms (3) is three, and the number of the second mechanical arm (4) is one, and distal end portions of each of the first mechanical arms (3) and the second mechanical arm (4) are arranged to be capable of being inserted into a patient's body from the same incision.

6. The multi-joint mechanical arm group according to claim 1, wherein The proximal end portions of the first mechanical arms (3) and the second mechanical arm (4) each have a plurality of horizontal cross arms and a plurality of horizontal cross arm rotation joints, each of the horizontal cross arms includes a proximal end portion and a distal end portion, the plurality of horizontal cross arms are sequentially connected end to end by the horizontal cross arm rotation joints at the proximal end portions and the distal end portions, respectively, and adjacent two horizontal cross arms are rotatable relative to each other about a vertical axis.

7. The multi-joint robotic arm bank of claim 6, wherein, The distal end portion of the proximal horizontal cross arm and the proximal end portion of the distal horizontal cross arm in the adjacent two horizontal cross arms are hinged by the horizontal cross arm rotation joint, and the distal end portion of the proximal horizontal cross arm is located above the proximal end portion of the distal horizontal cross arm.

8. The multi-joint robot arm group according to claim 6 or 7, characterized in that, The proximal end portion of the proximal-most horizontal cross arm (31) of one of the first mechanical arms (3) is connected to the turntable (2) on the surgical trolley (1) through a first horizontal cross arm rotation joint; The proximal end portion of the proximal-most horizontal cross arm (41) of the second mechanical arm (4) is also connected to the turntable (2) through a second horizontal cross arm rotation joint; The rotation axis of the first horizontal cross arm rotation joint and the rotation axis of the second horizontal cross arm rotation joint are coaxially arranged, so that the second horizontal cross arm rotation joint of the second mechanical arm (4) is stacked above the first horizontal cross arm rotation joint of the first mechanical arm (3); The first mechanical arms (3) and the second mechanical arm (4) form a first mechanical arm group.

9. The multi-joint robot arm group according to claim 8, wherein, The first mechanical arm (3) is three, and the proximal end of the horizontal cross arm of the other two first mechanical arms (3) closest to the side is connected with the rotating table (2) on the operating trolley through the first horizontal cross arm rotating joint; The rotating shafts of the two first horizontal cross arm rotating joints are coaxially arranged, so that the first horizontal cross arm rotating joint of one of the first mechanical arms (3) is stacked above the first horizontal cross arm rotating joint of the other first mechanical arm (3); The two first mechanical arms (3) form a second mechanical arm group.

10. The multi-joint robotic arm bank of claim 9, wherein, The first mechanical arm group and the second mechanical arm group are arranged on the same operating trolley (1) and are mirror symmetrical with respect to the symmetry plane of the rotating table (2) of the operating trolley (1).

11. The multi-joint robotic arm bank of claim 9, wherein, The first mechanical arm group and the second mechanical arm group are arranged on the rotating tables (2) of two different operating trolleys, respectively.

12. The multi-joint robotic arm bank of claim 9, wherein, The first mechanical arm (3) and / or the second mechanical arm (4) further comprises: a vertical arm (33) arranged to be movable up and down, a proximal end of the vertical arm (33) being connected to a distal end of a distal-most horizontal cross arm of the plurality of horizontal cross arms through a vertical arm rotating joint to rotate around a vertical axis relative to the distal end of the distal-most horizontal cross arm; an inclined arm (34) and an inclined arm rotating joint, wherein a proximal end of the inclined arm (34) is connected to a distal end of the vertical arm (33) through the inclined arm rotating joint, and a rotating axis of the inclined arm rotating joint is angled relative to the vertical; a fixed-point position adjusting linkage assembly (35), a proximal end of the fixed-point position adjusting linkage assembly (35) being rotatably connected to a distal end of the inclined arm (34); a linear driving device (36) slidably arranged at a distal end of the fixed-point position adjusting linkage assembly (35); a surgical tool (37) arranged on the linear driving device (36), a distal end of the surgical tool (37) on the first mechanical arm (3) being provided with an end effector, and a distal end of the surgical tool (37) on the second mechanical arm (4) being provided with a camera.

13. The multi-joint robotic arm bank of claim 12, wherein, Each of the horizontal cross arm rotating joint, the vertical arm rotating joint and the inclined arm rotating joint comprises a driving mechanism (5), a speed reducer (6) and a synchronous transmission belt (7), the synchronous transmission belt (7) transmitting the rotation of an output shaft of the driving mechanism (5) of the rotating joint to an input shaft of the speed reducer (6), and an output shaft of the speed reducer (6) being arranged to drive the corresponding horizontal cross arm, vertical arm (33) or inclined arm (34) to rotate.

14. The multi-joint robotic arm bank of claim 13, wherein, Each of the rotating joints further comprises a brake mechanism (8) coaxially arranged with the input shaft of the speed reducer (6), the brake mechanism (8) being arranged to be braked to lock the input shaft of the speed reducer (6) in a power-off state and to be released to unlock the input shaft of the speed reducer (6) in a power-on state; Each of the rotating joints further comprises a transmission gear (9). Each of the rotary joints further comprises an angle encoder (10) or a potentiometer, the transmission gear (9) is coaxially fixedly connected with an output shaft of the driving mechanism (5), and the angle encoder (10) or the potentiometer is engaged with the transmission gear (9) and used for recording and feeding back the motion state of each of the rotary joints.

15. The multi-joint robotic arm bank of claim 13, wherein, The reducer input shaft (61) of the second horizontal arm rotary joint and the reducer (6) of the first horizontal arm rotary joint are each provided with a through channel along a rotary center axis, a support shaft (202) fixedly connected to the rotary table (2) penetrates the through channel and is fixedly connected with the reducer (6) of the first horizontal arm rotary joint at a lower end, so as to connect the horizontal arm (31) closest to the first mechanical arm (3) with the rotary table (2), and the horizontal arm (31) closest to the first mechanical arm (3) and the horizontal arm (41) closest to the second mechanical arm (4) are independently connected with the rotary table (2).

16. A surgical robotic system, comprising: The operating table trolley (1), the master control trolley and the multi-joint mechanical arm group as claimed in any one of claims 1-15 are included, and the multi-joint mechanical arm group is installed on the rotary table (2) of the operating table trolley (1); The master control trolley is coupled with the multi-joint mechanical arm group to remotely operate the multi-joint mechanical arm group when an operator operates the master control trolley.

17. The surgical robotic system of claim 16, wherein, The straight segments are arranged to be inserted into a patient through the incision; the straight segments have a plurality of through channels extending along the longitudinal axis and arranged at intervals from each other, the number of the through channels is greater than or equal to the number of the mechanical arms, and the through channels are arranged to allow the distal end portions of the mechanical arms to penetrate therethrough; Each of the curved segments is tubular and communicates with each of the through channels.

18. The surgical robotic system of claim 17, wherein, The plurality of curved segments are arranged in parallel or intersected.

19. The surgical robotic system of claim 17, wherein, At least one of the curved segments is further radially deformable. The straight segments are arranged to be inserted into a patient through the incision; the straight segments have a plurality of through channels extending along the longitudinal axis and arranged at intervals from each other, the number of the through channels is greater than or equal to the number of the mechanical arms, and the through channels are arranged to allow the distal end portions of the mechanical arms to penetrate therethrough; Each of the curved segments is tubular and communicates with each of the through channels. The plurality of curved segments are arranged in parallel or intersected. At least one of the curved segments is further radially deformable.

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