Urological surgical machine and surgical robot

Abstract

The present invention relates to the field of medical devices and discloses a urological surgical machine and a surgical robot. The urological surgical machine includes: multiple robotic arms, whose distal ends can enter the patient's body through an incision or a natural cavity. The distal ends of the robotic arms include a first flexible segment and a second flexible segment. The first flexible segment and the second flexible segment have a receiving cavity that penetrates each other. The distal end of the first flexible segment is connected to an end effector and / or a camera device. The end effector is configured to perform surgical operations, and the camera device is configured to acquire images, so that the surgical machine is small in size and can be configured with extremely high degrees of freedom within a small space.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a urological surgical machine and a surgical robot. Background Art

[0002] The urinary tract is the human detoxification system. Urine contains numerous toxins and sediments. Urine is filtered through the kidneys and enters the urinary tract. During this metabolic process, sediments often form in the kidneys and urinary tract, which over time can lead to kidney and urinary stones. Urology primarily treats various urinary stones and complex kidney stones, kidney and bladder tumors, prostatic hyperplasia and prostatitis, and testicular and epididymal inflammation and tumors. Urological surgeries requiring interventional treatment often require the use of an endoscope, combined with surgical instruments.

[0003] Traditional rigid surgical instruments are mostly slender rod-like structures with surgical actuators at the ends. The rod-like structures are hinged in series with multiple rods and driven by wire rope tension to bend and rotate the surgical instruments at the hinge joints. Due to the large size of rigid surgical instruments, the use of oversized surgical instruments for urological surgery not only affects the intuitiveness of the surgical field of view, increases the time, difficulty and complexity of the surgical operation, but also easily causes pulling of local tissues, making postoperative healing more difficult. In addition, due to the complex hand-eye coordination requirements, traditional rigid surgical instruments have disadvantages such as limited flexibility and a small working range, which further restricts their promotion and application. With the research and development of surgical robot systems, flexible robotic arms are now being used to replace traditional rigid surgical instruments, greatly improving the freedom and flexibility of surgical instruments and increasing the flexibility of instrument movement. Summary of the Invention

[0004] Based on the above problems, the purpose of the present invention is to provide a urological surgical machine, which is small in size and can achieve extremely high degree of freedom of configuration within a small space; another purpose of the present invention is to provide a surgical robot containing the surgical machine.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A urological surgical machine comprises: a plurality of robotic arms, wherein distal ends of the plurality of robotic arms are configured to enter a patient's body through an incision or a natural cavity;

[0007] The distal portion of the robotic arm includes a first flexible segment located at the distal end and a second flexible segment located at the proximal end, wherein the maximum bending angle of the first flexible segment is greater than the maximum bending angle of the second flexible segment;

[0008] The first flexible segment and the second flexible segment have an accommodating cavity that penetrates each other;

[0009] The distal end of the first flexible segment is provided with an end effector and / or a camera device. The end effector is configured to perform a surgical operation, and the camera device is configured to acquire an image.

[0010] As a preferred solution of the present invention, the distal end portion of the robotic arm further includes a flexible continuum structure that is disposed throughout the first flexible segment and the second flexible segment.

[0011] As a preferred embodiment of the present invention, the flexible continuum structure includes at least one continuum segment;

[0012] The continuum structure includes a base plate, an attachment plate and a structural bone;

[0013] The base plate and the stop plate are spaced apart and arranged in the accommodating cavity, the proximal end of the structural bone passes through the base plate, and the distal end of the structural bone is fixedly connected to the stop plate;

[0014] The stop disc is connected to the end effector and / or the camera device.

[0015] As a preferred embodiment of the present invention, the first flexible section includes a plurality of snake bone joints connected in sequence, each of the snake bone joints is provided with a groove and a protrusion, and the protrusion of one snake bone joint can be stuck into the groove of another adjacent snake bone joint.

[0016] As a preferred embodiment of the present invention, the second flexible segment is a tube body, and a plurality of slit units are arranged on the tube wall of the second flexible segment along its extension direction at intervals, each of the slit units includes a plurality of arc-shaped slits, and the arc-shaped slits extend along the circumference of the second flexible segment.

[0017] As a preferred solution of the present invention, the continuum segment further comprises a plurality of spacer disks spaced apart between the base disk and the stop disk, and the structural bone passes through each of the spacer disks in sequence along the circumferential direction.

[0018] As a preferred embodiment of the present invention, the flexible continuum structure includes two continuum sections;

[0019] The number of the structural bones in each of the continuum segments is 4.

[0020] As a preferred embodiment of the present invention, the structural bone is an elastic thin rod or thin tube made of superelastic material.

[0021] As a preferred solution of the present invention, the proximal ends of the plurality of said robotic arms are provided with joint linkage devices;

[0022] The joint linkage has at least one joint.

[0023] A surgical robot comprises the urological surgical machine described above.

[0024] The beneficial effects of the present invention are:

[0025] Since the present invention adopts the above technical solution, it has one or more of the following advantages: 1. The urological surgical machine provided by the present invention adopts a flexible continuum structure. Compared with the traditional rigid motion chain that realizes bending motion by rotating with each other at the joints, the flexible continuum structure realizes the bending and deformation of the distal structure through the deformation of its proximal structure, and its main body of the structure also becomes a drive transmission structure, so it can achieve extremely high degree of freedom configuration within a small space. 2. The urological surgical machine provided by the present invention includes a first flexible section and a second flexible section. The first flexible section is a snake-bone structure with good curvature, which is convenient for smoothly completing the working position and posture required for the operation; a plurality of slit units are arranged on the tube wall of the second flexible section along its extension direction, which can ensure that the surgical tool is pre-bent to a certain extent when entering the human body through the sheath to adapt to the bending conditions in the tube cavity while taking into account the structural rigidity of the pre-bent section, and can generate a certain adaptive bending when the first flexible section is actively bent, which can meet the rigidity and flexibility requirements of the surgical tool at the same time, reduce the difficulty of surgical operation, avoid wear, bending or damage of the surgical tool, and increase the service life of the surgical tool; the rigid section provides a rigid force for the first flexible section and the second flexible section to smoothly extend to the target surgical area in the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in describing the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without any creative work.

[0027] Figure 1 is a schematic structural diagram of a surgical robot provided by a specific embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a portion of the structure of a surgical robot provided by a specific embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the sheath structure provided by a specific embodiment of the present invention;

[0030] Figure 4 is a partial cross-sectional schematic diagram of a sheath provided in a specific embodiment of the present invention;

[0031] Figure 5 It is a partial schematic diagram of a sheath provided by a specific embodiment of the present invention;

[0032] Figure 6 It is a partial schematic diagram of the sheath and outer tube provided in a specific embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the cooperation between the sheath and the outer tube provided in a specific embodiment of the present invention;

[0034] Figure 8 Schematic diagram of the structure of the first and second flexible segments provided in a specific embodiment of the present invention;

[0035] Figure 9 Schematic diagram of the structure of the flexible continuum structure provided by a specific embodiment of the present invention;

[0036] Figure 10 is a structural schematic diagram of a first flexible segment provided in a specific embodiment of the present invention;

[0037] Figure 11 It is a schematic structural diagram of a snake bone joint provided by a specific embodiment of the present invention;

[0038] Figure 12 It is a structural schematic diagram of a slit unit provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0039] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed or detachable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention.

[0042] The definition in the present invention is that the end closer to the operator is the proximal end or the rear end, and the end closer to the surgical patient is the distal end or the front end.

[0043] like Figure 1 、 Figure 2 、 Figure 8 and Figure 9 As shown, this embodiment provides a urological surgical machine, which includes: a plurality of robotic arms 1, and the distal portions of the plurality of robotic arms 1 are configured to be able to enter the patient's body from a smaller incision or natural cavity. The smaller incision refers to, for example, an incision during urological surgery, which is smaller than a conventional general surgical laparoscopic incision. The distal portion of the robotic arm 1 includes a first flexible segment 2 located at the distal end, a second flexible segment 3 located at the proximal end, and a flexible continuum structure provided through the first flexible segment 2 and the second flexible segment 3, wherein the maximum bending angle of the first flexible segment 2 is greater than the maximum bending angle of the second flexible segment 3. The flexible continuum structure includes at least one continuum segment 4, and the continuum segment 4 includes a base plate 41, a stop plate 42, and a structural bone 43. Specifically, the proximal end of the first flexible segment 2 is fixedly connected to the distal end of the second flexible segment 3. The first flexible segment 2 and the second flexible segment 3 have a mutually interpenetrating accommodating cavity. The flexible continuum structure extends from the distal end of the first flexible segment 2 to the proximal end of the second flexible segment 3 and is then connected to the drive mechanism. The base plate 41 and the stop plate 42 are spaced apart in the accommodating cavity. The proximal end of the structural bone 43 passes through the base plate 41, and the distal end of the structural bone 43 is fixedly connected to the stop plate 42. It should be understood that a robotic arm 1 can employ one continuum segment 4, two continuum segments 4, or more continuum segments 4. The greater the number of continuum segments 4, the greater the bending degrees of freedom of the robotic arm 1, and the more flexible the movement of the robotic arm 1. The stop plate 42 is connected to an end effector and / or a camera device. The end effector is configured to perform surgical operations, and the camera device is configured to capture images. The first flexible segment 2 has a larger bending angle, thereby ensuring that the first flexible segment 2 can bend more flexibly than the second flexible segment 3 under the drive of the flexible continuum, and can smoothly drive the end effector and / or camera device to the target position to facilitate surgical operations.

[0044] When the flexible continuum structure provided by the above embodiment is in operation, since the base plate 41 is fixed, when the driving mechanism drives the push-pull structural bone 43 to move, the structural bone 43 is pulled on one side of the proximal end, thereby increasing the length of the corresponding structural bone 43 in the continuum segment 4, and is compressed on the other side, thereby reducing the length of the corresponding structural bone 43 in the continuum segment 4, but the total length of each structural bone 43 remains unchanged, so that the structural bone 43 generates a reverse bend at the distal end, thereby adjusting the position of the end effector or camera device.

[0045] Preferably, the urological surgical robot has three robotic arms 1, wherein the distal ends of two of the robotic arms 1 are connected to end effectors, and the distal end of another robotic arm 1 is connected to a camera device. Each robotic arm 1 can enter the patient's body through the same incision and the movements of each robotic arm 1 do not interfere with each other. Specifically, the end effector can be a clamp, an electric hook, scissors or a grasping forceps, etc., and the camera device can be an endoscope for obtaining field images inside the patient's body. It should be understood that the robotic arms 1 of the urological surgical robot can also be two or other numbers, wherein the distal end of one of the robotic arms 1 is connected to a camera device, and the distal ends of the other robotic arms 1 are connected to end effectors.

[0046] In this embodiment, the distal end portion of each robotic arm 1 is specifically provided with the end effector and the imaging device, which are movable relative to each other. It will be appreciated that when both the end effector and the imaging device are provided at the distal end portion of the robotic arm 1, the end effector and the imaging device can move independently of each other. The imaging device adjusts its position and posture to capture an image of the patient's internal field of view, and then adjusts the end effector to the target position to facilitate smooth surgical operation.

[0047] In this embodiment, if Figure 8 and Figure 10 As shown, the first flexible section 2 is a snake-bone structure with good curvature, which facilitates the smooth completion of the working position and posture adjustment required for the operation. Figure 10 and Figure 11 As shown, the first flexible segment 2 includes a plurality of serpentine joints 21 connected in sequence. Each serpentine joint 21 is provided with a groove 211 and a protrusion 212. The protrusion 212 of one serpentine joint 21 can be inserted into the groove 211 of another adjacent serpentine joint 21. The grooves 211 and protrusions 212 are staggered. All serpentine joints 21 form a motion segment, which bends under the drive of the structural bone 43 of the flexible continuum structure, and the motion direction of the motion segment is consistent. It should be understood that the first flexible segment 2 can also be a bellows structure, which also has good bending ability.

[0048] In the above embodiment, preferably, Figure 8 and Figure 12As shown, the second flexible segment 3 is a tube body, and a plurality of slit units are arranged on the tube wall of the second flexible segment 3 along its axial extension direction at intervals. Each slit unit includes a plurality of arc-shaped slits 31, and the arc-shaped slits 31 extend along the circumference of the second flexible segment 3. Specifically, the arrangement of the slit units and the arc-shaped slits 31 is conducive to a certain degree of pre-bending of the second flexible segment 3 while taking into account the structural rigidity of the second flexible segment 3. This ensures that the distal end of the robotic arm 1 is pre-bent to a certain extent to adapt to the bending conditions in the lumen when entering the human body through a puncture card or a sheath, and can also produce a certain degree of adaptive bending when the first flexible segment 2 is actively bent. It can simultaneously meet the rigidity and flexibility requirements of the surgical instrument, reduce the difficulty of surgical operation, and avoid wear, bending or damage to the robotic arm 1, thereby increasing the service life of the robotic arm 1.

[0049] To ensure more uniform force on the second flexible segment 3 during bending, the multiple arcuate slits 31 of each slit unit are preferably spaced and staggered along the axial extension of the second flexible segment 3. When the second flexible segment 3 is not deformed, the multiple arcuate slits 31, when projected along the axial direction of the second flexible segment 3, form a complete closed circle, thereby ensuring that the second flexible segment 3 can bend in all directions. Optionally, the multiple arcuate slits 31 are sequentially staggered at a certain angle along the circumference of the second flexible segment 3, preferably, at a 90° stagger. It should be understood that the multiple arcuate slits 31 can also be staggered at 75°, 60°, or other angles. To ensure bending capability while maintaining the structural rigidity of the second flexible segment 3, the arc length of each arcuate slit 31 is preferably half the circumference of the second flexible segment 3. It should be understood that the arc length of each arcuate slit 31 can also be other proportions of the circumference of the second flexible segment 3, such as three-quarters or one-quarter of the circumference. In this embodiment, each slit unit includes four arc-shaped slits 31 . Similarly, each slit unit may also include three, five, or other arc-shaped slits 31 without departing from the protection scope of the present invention.

[0050] In this embodiment, preferably, Figure 9 As shown, the continuum segment 4 further includes a plurality of spacer disks 44 spaced apart between the base disk 41 and the stop disk 42, with the structural bones 43 sequentially passing through each of the spacer disks 44 along the circumferential direction. Specifically, the proximal end of each structural bone 43 circumferentially passes through the base disk 41, then sequentially passes through the plurality of spacer disks 44 along the circumferential direction, and the distal end is circumferentially disposed on the stop disk 42. The plurality of spacer disks 44 are used to radially support the structural bones 43, thereby ensuring that each structural bone 43 remains parallel during bending deformation, preventing the structural bones 43 from becoming unstable during bending.

[0051] Preferably, the flexible continuum structure includes two continuum segments 4. The number of structural bones 43 of each continuum segment 4 is four. Specifically, the base plate 41 of the continuum segment 4 at the distal end is fixedly connected to the stop plate 42 of the continuum segment 4 at the proximal end, and the structural bone 43 of the continuum segment at the distal end passes through the stop plate 42 of the proximal end continuum segment 4, a plurality of spacer plates 44 and the base plate 41 in sequence, and then is connected to the driving mechanism. It can be understood that two continuum segments 4 are provided to ensure that the robotic arm 1 has multi-segment bending capabilities. Since the incision for urological surgery is generally small, a smaller-sized robotic arm 1 is required. Therefore, four structural bones 43 are provided, which can ensure that the size of the robotic arm 1 is small and a higher degree of freedom configuration can be achieved.

[0052] In this embodiment, the structural bone 43 is an elastic thin rod or thin tube made of a superelastic material, for example, a high-strength, high-toughness, elastic metal material such as nickel-titanium alloy.

[0053] In this embodiment, Figure 1 As shown, the proximal ends of multiple robotic arms 1 are provided with joint linkages 101, each comprising at least one joint. Specifically, the joint linkages 101 remain stationary during surgery. These joints may include multiple rotational joints, elevation joints, and a distal fixed point position adjustment joint assembly. These joints enable horizontal, vertical, and lateral position adjustment of the robotic arms 1, thereby satisfying preoperative position adjustment requirements and facilitating surgical procedures.

[0054] This embodiment also provides a surgical robot, including the urological surgical machine of the above embodiment, which can be used for urological surgical operations. During actual operation, a sheath with multiple channels is inserted through a smaller incision, and then the position of the robotic arms 1 is adjusted to extend the distal end of each robotic arm 1 through the channel of the sheath into the patient's body, thereby achieving a single-port laparoscopic surgery operation, thereby reducing the number of incisions on the patient. It should be understood that the multiple robotic arms 1 of the urological surgical machine can be installed on the same operating table or on different operating tables.

[0055] like Figure 2 、 Figure 3 and Figure 6As shown, in the above embodiment, optionally, the surgical robot further includes: a sheath 5 and an outer tube 6. The sheath 5 includes a connecting portion 51 and an inserting portion 52 fixedly connected to each other, the connecting portion 51 is located at the proximal end for connecting to the surgical robot, and the inserting portion 52 is located at the distal end for inserting into the patient's body, and the connecting portion 51 and the inserting portion 52 are provided with a plurality of instrument channels 53 extending along the longitudinal axis and radially spaced apart and extending through each other, and the distal portion of the robotic arm 1 passes through the instrument channels 53 and enters the patient's body. The multiple instrument channels 53 of the connecting portion 51 are arranged adjacent to the distal end and gradually move away from each other from the distal end to the proximal end, thereby avoiding interference between the robotic arms.

[0056] In a specific embodiment, Figures 2 to 7 As shown, specifically, the connecting portion 51 is tubular, roughly funnel-shaped, and includes a flared mouth at the proximal end and a constricted mouth at the distal end, with a smooth transition between the flared mouth and the constricted mouth by the tube wall. The sheath 5 also includes three sheath tubes 54, which form a through passage, i.e., an instrument passage 53. The distal ends of the sheath tubes 54 extend into the connecting portion 51 and are adjacently disposed, and are connected to the constricted mouth of the connecting portion 51. The proximal ends of the sheath tubes 54 extend out of the connecting portion 51 from the flared mouth. The insertion portion 52 is tubular, and the proximal end of the insertion portion 52 is fixedly connected to the distal end of the connecting portion 51, and the instrument passage 53 of the insertion portion 52 is connected to the constricted mouth of the connecting portion 51.

[0057] In the above embodiment, if Figure 3 and Figure 4 As shown, the sheath tube 54 includes an inner sheath tube segment and an outer sheath tube segment, the inner sheath tube segment is located in the connecting portion 51, and the outer sheath tube segment extends proximally out of the connecting portion 51, and the connecting portion 51 can be connected to the surgical robot by a connecting device provided on the outer sheath tube 54 to achieve fixation of the sheath 5. Preferably, the outer sheath tube segment is deformable, and the deformation includes deformation in the radial and / or axial directions of the sheath tube 54. It should be understood that this deformation can compensate for the positioning error of the robotic arm 1 caused by the machine control accuracy or other reasons, so that the end effector or endoscope at the distal end of the robotic arm 1 can still smoothly pass through the inner cavity of the sheath tube 54 to enter the predetermined surgical site in the presence of a certain positioning error.

[0058] In this embodiment, if Figure 3 and Figure 5As shown, the tubular insertion portion 52 also includes a first liquid channel 55 and a second liquid channel 56 extending along the longitudinal axis and spaced apart from each other. The multiple instrument channels 53, the first liquid channel 55 and the second liquid channel 56 of the insertion portion 52 are all arranged adjacent to each other. The proximal end of the insertion portion 52 is provided with two through holes 521, and the first liquid channel 55 and the second liquid channel 56 are respectively connected to the proximal exterior of the insertion portion 52 through the through holes 521. Preferably, the outer tube 6 is tubular and is sleeved on the outer circumference of the insertion portion 52, forming a gap therebetween. The proximal end of the outer tube 6 is detachably connected to the proximal end of the insertion portion 52, thereby facilitating the preoperative installation and postoperative cleaning of the sheath 5 and the outer cover. Specifically, one of the first liquid channel 55 and the second liquid channel 56 is a liquid inlet channel, and the other is a liquid discharge channel. Preferably, the first liquid channel 55 is a liquid inlet channel.

[0059] Preferably, the proximal end of the outer tube 6 is provided with a circumferentially extending protrusion, the radial dimension of which is greater than the radial dimension of the outer tube. The proximal end of the outer tube 6 is provided with an inlet valve and a drain valve (not shown) spaced axially therebetween. Preferably, the inlet valve and drain valve are disposed on diametrically opposite sides of the proximal end of the outer tube 6. Further preferably, the inlet valve is located closer to the proximal end of the outer tube 6, and the drain valve is located closer to the distal end of the outer tube 6. Both the inlet valve and the drain valve are in communication with the interior of the outer tube 6. The outer tube 6 is provided with a first sealing member (not shown) between the liquid inlet valve and the liquid outlet valve. Preferably, the first sealing member is a sealing ring. The inner wall of the first sealing member abuts against the outer wall of the insertion portion 52. The outer wall of the first sealing member abuts against the inner wall of the outer tube 6, so that the gap between the inner wall of the outer tube 6 and the outer wall of the insertion portion 52 is sealed and isolated from each other on both axial sides of the first sealing member. As a result, the liquid inlet valve, the first liquid channel 55, and the interior of the protrusion located on one side of the first sealing member are connected to form a first passage. The liquid outlet valve, the second liquid channel 56, and the gap on the other side of the first sealing member are connected to form a second passage. The provision of the first sealing member separates the first and second passages, so that the first passage forms the liquid inlet passage, facilitating the cleaning of the surgical site tissue in the patient's body during surgery, and the second passage forms the liquid outlet passage, facilitating the discharge of waste fluid and cut waste tissue from the surgical site. It should be understood that either the second liquid channel 56 or the gap can be selected to form the second passage. For example, the outer tube 6 and the insertion portion 52 can be tightly fitted together without forming a gap therebetween, in which case the drain valve communicates with the second liquid passage 56 to form a second passage. It is also understood that a gap between the outer tube 6 and the insertion portion 52 can exist, and the drain valve communicates with the gap to form a second passage.

[0060] In this embodiment, a second sealing member is preferably provided at the proximal end between the outer tube 6 and the insertion portion 52. Specifically, the second sealing member is a sealing ring (not shown) provided at the proximal end of the protrusion to seal the gap between the outer wall of the insertion portion 52 and the inner wall of the outer tube 6 from the outside, thereby preventing liquid leakage.

[0061] Preferably, there are two first liquid channels 55, and the two first liquid channels 55 are respectively arranged on opposite sides of the inner diameter of the tube of the insertion portion 52, so as to form a larger range of cleaning for the tissue of the surgical site, thereby avoiding stains such as blood stains affecting the shooting field of view of the camera device.

[0062] like Figures 2 to 7 As shown, further, the proximal end of the insertion portion 52 is provided with a snap-fit ​​portion 7, which includes a barrel base 71 located at the proximal end and a snap-fit ​​member 72 extending axially from the distal end of the barrel base 71 to the distal end. One of the inner surface of the snap-fit ​​member 72 and the proximal outer circumferential surface of the outer tube 6 is provided with a protrusion 721, and the other is provided with an arcuate groove 61, and the protrusion 721 is engaged with the arcuate groove 61. Preferably, the inner surface of the snap-fit ​​member 72 is provided with a protrusion 721. The proximal outer circumferential surface of the outer tube 6 is provided with an arcuate groove 61, and the protrusion 721 is engaged with the arcuate groove 61. Specifically, there are two engaging parts 72, and they are symmetrically arranged. The protrusion 721 on the inner surface of each engaging part 72 is a spherical protrusion. The arc-shaped groove 61 includes a proximal extension section and a distal extension section. The proximal extension section extends from the proximal edge of the outer tube 6 to the distal end along the axial direction and the width gradually decreases. The distal extension section of the arc-shaped groove 61 located at the distal end extends at an angle relative to the axial direction, and the proximal extension section and the distal extension section have a smooth arc-shaped transition so that the protrusion 721 can smoothly enter the distal extension section.

[0063] In this embodiment, a reset mechanism is provided at the proximal end of the insertion portion 52. The reset mechanism includes a biasing member disposed between the barrel base 71 and the outer periphery of the insertion portion 52. The biasing member biases the barrel base 71 toward the direction in which the protrusion 721 of the engaging member 72 engages with the arcuate groove 61. It should be understood that when the insertion portion 52 and the outer tube 6 move toward each other, the insertion portion 52 drives the barrel base 71 and the engaging member 72 to move, thereby causing the protrusion 721 on the inner surface of the engaging member 72 to move distally along the notch edge of the proximal extension section of the arcuate groove 61. The biasing member biases the barrel base 71, thereby driving the engaging member 72 to move toward the direction in which the protrusion 721 engages with the arcuate groove 61, causing the protrusion 721 to move toward the distal extension section of the arcuate groove 61, thereby locking the insertion portion 52 and the outer tube 6.

[0064] In the above preferred embodiment, the biasing member is a spring 8, and two sections of fixed rods 9 are provided on the outer periphery of the insertion portion 52, which are diametrically opposed and extend radially outward. It should be understood that the fixed rod 9 can also be a single piece, and the cylinder base 71 is slidably mounted on the fixed rod 9, so that the cylinder base 71 slides radially relative to the fixed rod 9, and the spring 8 is disposed between one end of the fixed rod 9 and the cylinder base 71. Specifically, the cylinder base 71 is annular and is disposed on the outer periphery of the proximal end of the insertion portion 52. The fixed rod 9 is fixedly disposed at the proximal end of the insertion portion 52 along the radial direction of the insertion portion 52, and the fixed rod 9 is diametrically opposed and extends radially outward and penetrates the cylinder base 71. One end of the fixed rod 9 is provided with a stopper 91 to prevent the cylinder base 71 from slipping when sliding radially along the fixed rod 9. A pressing portion 711 is fixedly disposed on the side of the cylinder base 71 away from the stopper 91. Specifically, the pressing portion 711 has a cavity inside, and the spring 8 is located in the cavity. One end of the spring 8 abuts against the inner wall of the pressing portion 711, and the other end abuts against the fixing rod 9. When the insertion portion 52 and the outer tube 6 move closer to each other, the spring 8 is biased against the cylinder base 71 by the force, so that the protrusion 721 on the engaging member 72 moves along the distal extension section of the arc-shaped groove 61, thereby engaging the insertion portion 52 and the outer tube 6. When the pressing portion 711 on the cylinder base 71 is pressed, the spring 8 is reset, driving the cylinder base 71 to move along the fixing rod 9 until the outer wall of the cylinder base 71 abuts against the stopper 91, so that the protrusion 721 on the engaging member 72 slides out from the distal extension section of the arc-shaped groove 61, thereby making the insertion portion 52 and the outer tube 6 detachable. It should be understood that the spring 8 can also be arranged on a side of the cylinder base 71 close to the stop portion 91 , with one end of the spring 8 abutting against the fixing rod 9 and the other end abutting against the inner arm of the cylinder base 71 .

[0065] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot, characterized in that: include: Urological surgical instruments and sheaths; The urological surgical machine comprises: a plurality of robotic arms, wherein the distal ends of the plurality of robotic arms are configured to enter the patient's body through an incision or a natural cavity; The distal portion of the robotic arm includes a first flexible segment located at the distal end and a second flexible segment located at the proximal end, wherein the maximum bending angle of the first flexible segment is greater than the maximum bending angle of the second flexible segment; The first flexible segment and the second flexible segment have an accommodating cavity that penetrates each other; The distal end of the first flexible segment is provided with an end effector and / or a camera device, wherein the end effector is configured to perform a surgical operation, and the camera device is configured to acquire an image; The distal end portion of the robotic arm further comprises a flexible continuum structure provided throughout the first flexible segment and the second flexible segment, wherein the flexible continuum structure can drive the first flexible segment to bend, and the second flexible segment can generate a pre-bend when the distal end portion of the robotic arm passes through the sheath, and can generate an adaptive bend based on the bending of the first flexible segment; the flexible continuum structure comprises at least one continuum segment; The continuum structure includes a base plate, an attachment plate and a structural bone; The base plate and the stop plate are spaced apart and arranged in the accommodating cavity, the proximal end of the structural bone passes through the base plate, and the distal end of the structural bone is fixedly connected to the stop plate; The stop disc is connected to the end effector and / or the camera device; The sheath comprises a connecting portion and an inserting portion fixedly connected to each other, wherein the connecting portion and the inserting portion are provided with a plurality of instrument channels extending along the longitudinal axis and radially spaced apart from each other, the instrument channels being configured to allow the distal end portion of the urological surgical instrument to pass through; The protruding portion further includes a first liquid channel and a second liquid channel extending along the longitudinal axis and spaced apart from each other.

2. The surgical robot according to claim 1, characterized in that: The first flexible section includes a plurality of snake-bone joints connected in sequence, each of the snake-bone joints is provided with a groove and a protrusion, and the protrusion of one snake-bone joint can be inserted into the groove of another adjacent snake-bone joint.

3. The surgical robot according to claim 1, wherein: The second flexible section is a tube body, and a plurality of slit units are arranged on the tube wall of the second flexible section at intervals along its extension direction. Each of the slit units includes a plurality of arc-shaped slits, and the arc-shaped slits extend along the circumference of the second flexible section.

4. The surgical robot according to claim 1, wherein: The continuum segment further includes a plurality of spacer disks spaced apart between the base disk and the stop disk, and the structural bone sequentially passes through each of the spacer disks along the circumferential direction.

5. The surgical robot according to claim 1, characterized in that: The flexible continuum structure includes two continuum sections; The number of the structural bones in each of the continuum segments is 4.

6. The surgical robot according to claim 1, characterized in that: The structural bone is an elastic thin rod or thin tube made of superelastic material.

7. The surgical robot according to any one of claims 1 to 6, characterized in that: The proximal ends of the plurality of said robotic arms are provided with joint linkage devices; The joint linkage has at least one joint.

Images