Surgical robot device

Abstract

A surgical robot device, the surgical robot device comprising: a surgical operating arm and a suspension device. The suspension device is connected to the surgical operating arm and is connected to a building component in the operating room to suspend the surgical operating arm in the operating room, wherein the suspension device is isolated from the ground in the operating room and is suspended, and can move in multiple directions to drive the surgical operating arm to move in multiple directions. The surgical operating arm of this surgical robot device has a relatively large range of adjustable distances in multiple directions, a relatively large range of adjustable angles, and is more flexible, and can better meet the requirements for the surgical operating arm during surgery, especially for complex surgeries.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to a surgical robot device. Background Art

[0002] In robot-assisted or remotely controlled robotic surgery, a surgeon typically operates a master controller to remotely control the movement of surgical instruments at the surgical site from a position away from the patient (e.g., across the operating room, in a different room, or in a completely different building from the patient). The master controller typically includes one or more manual input devices, such as joysticks, exoskeleton gloves, or the like, which are connected to the surgical instruments through servo motors that articulate the instruments at the surgical site. The servo motors are typically part of an electromechanical device or a surgical manipulator that supports and controls surgical instruments that have been directly introduced into an open surgical site or into a body cavity through a trocar sleeve. During surgery, the surgical manipulator provides articulation and control of various surgical instruments, such as tissue forceps, needle drivers, electrocautery probes, etc., each of the various surgical instruments performing a different function for the surgeon, such as clamping or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue.

[0003] Existing surgical robots generally have wheels on the base, which are pushed to the operating table by a nurse before the surgery starts, and during the surgery, personnel are required to replace instruments and monitor the surgery. The surgical robot has multiple cables connected to a display platform and a host computer. The ground space is narrow, and the space next to the operating table is small, resulting in inconvenient movement of operating room personnel. Moreover, for complex surgeries, multiple surgical robots may be required, and the lack of space makes it difficult to place the robots.

[0004] Therefore, how to make the occupied space of the surgical robot more reasonable is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] At least one embodiment of the present disclosure provides a surgical robot device, which includes: a surgical operating arm and a suspension device. The suspension device is connected to the surgical operating arm and is connected to a building component in the operating room to suspend the surgical operating arm in the operating room. Wherein, the suspension device is isolated from the ground in the operating room and is suspended, and can move in multiple directions to drive the surgical operating arm to move in multiple directions. The surgical operating arm of this surgical robot device has a large adjustable distance range and a large adjustable angle range in multiple directions, and is more flexible, which can better meet the requirements for the surgical operating arm during surgery, especially for complex surgeries.

[0006] For example, in the surgical robot device provided by an embodiment of the present disclosure, the surgical operation arm includes a working end for performing surgery and a non-working end opposite to the working end, and the suspension device is connected to the non-working end.

[0007] For example, the surgical robot device provided by an embodiment of the present disclosure includes at least one of the suspension devices and at least one surgical operation arm group. Each group of the at least one surgical operation arm group includes at least one of the surgical operation arms, and the at least one suspension device is connected to the at least one surgical operation arm group in a one-to-one correspondence; each of the at least one suspension devices is configured to be movable along the plurality of directions to drive the corresponding surgical operation arm group to move along the plurality of directions.

[0008] For example, in the surgical robot device provided by an embodiment of the present disclosure, the plurality of directions include a first direction, a second direction, and a third direction that are perpendicular to each other, and the third direction is perpendicular to the ground; the surgical robot device further includes a driving device configured to drive each of the at least one suspension devices to independently move along the first direction, the second direction, and the third direction.

[0009] For example, in the surgical robot device provided by an embodiment of the present disclosure, the driving device includes: a first driving device, a second driving device, and a third driving device. The first driving device is configured to drive the at least one suspension device to move along the first direction to drive the corresponding surgical operation arm group to move along the first direction; the second driving device is configured to drive the at least one suspension device to move along the second direction to drive the corresponding surgical operation arm group to move along the second direction; the third driving device is configured to drive the at least one suspension device to move along the third direction to drive the corresponding surgical operation arm group to move along the third direction. The first driving device and the second driving device are fixed to the building components in the operating room so that the suspension device is connected to the building components in the operating room. The third driving device is connected between the first driving device and the suspension device in the third direction or is connected between the first driving device and the second driving device in the third direction.

[0010] For example, in the surgical robot device provided by an embodiment of the present disclosure, the first driving device includes a first track extending along the first direction; the second driving device includes a second track extending along the second direction; the at least one suspension device is slidably connected to the first track, arranged in the first direction, and configured to be movable along the first track independently of each other to drive the corresponding surgical operation arm group to move independently along the first direction; the first track is slidably connected to the second track and configured to be movable along the second track to drive the at least one suspension device to move along the second direction.

[0011] For example, in the surgical robot device provided by an embodiment of the present disclosure, the second track includes a first sub-track and a second sub-track. The first sub-track extends along the second direction; the second sub-track extends along the second direction and is arranged at an interval from the first sub-track in the first direction; the first track is configured to be movable along both the first sub-track and the second sub-track simultaneously to drive the surgical operation arm to move along the second direction.

[0012] For example, in the surgical robot device provided by an embodiment of the present disclosure, the first sub-track is located at the first end of the first track in the first direction, and the second sub-track is located at the second end of the first track in the first direction opposite to its first end; the first end and the second end of the first track are respectively slidably connected to the first sub-track and the second sub-track, and are configured to move along the first sub-track and the second sub-track simultaneously respectively to drive the surgical operation arm to move along the second direction.

[0013] For example, in the surgical robot device provided by an embodiment of the present disclosure, the first track includes a third sub-track and a fourth sub-track. The third sub-track extends along the first direction; the fourth sub-track extends along the first direction and is arranged at an interval from the third sub-track in the second direction; the first part of the at least one suspension device is arranged on the third sub-track and is configured to be movable along the third sub-track; the second part of the at least one suspension device is arranged on the fourth sub-track and is configured to be movable along the fourth sub-track; the third sub-track is configured to be movable along the second track to drive the first part of the suspension device to move along the second direction, and the fourth sub-track is configured to be movable along the second track to drive the second part of the suspension device to move along the second direction; the movement of the first part of the movable suspension device is independent of the movement of the second part of the movable suspension device.

[0014] For example, in the surgical robot device provided by an embodiment of the present disclosure, the number of suspension devices included in the first part suspension device is 1, and the number of suspension devices included in the second part suspension device is 1.

[0015] For example, in the surgical robot device provided by an embodiment of the present disclosure, when the second track includes a first sub-track and a second sub-track, the third sub-track is configured to be movable along the first sub-track and the second sub-track simultaneously to drive the first part suspension device to move along the second direction, and the fourth sub-track is configured to be movable along the first sub-track and the second sub-track simultaneously to drive the second part suspension device to move along the second direction. The movement of the third sub-track and the movement of the fourth sub-track are independent of each other.

[0016] For example, in the surgical robot device provided by an embodiment of the present disclosure, the first sub-track is located at the first end of the third sub-track in the first direction and the first end of the fourth sub-track in the first direction, and the second sub-track is located at the second end of the third sub-track opposite to its first end in the first direction and the second end of the fourth sub-track opposite to its first end in the first direction; the first end and the second end of the third sub-track are respectively slidably connected to the first sub-track and the second sub-track, and are configured to move along the first sub-track and the second sub-track simultaneously to drive the first part suspension device to move along the second direction; the first end and the second end of the fourth sub-track are respectively slidably connected to the first sub-track and the second sub-track, and are configured to move along the first sub-track and the second sub-track simultaneously to drive the second part suspension device to move along the second direction.

[0017] For example, in the surgical robot device provided by an embodiment of the present disclosure, the third driving device includes at least one sub-third driving device, the at least one sub-third driving device is connected to the at least one suspension device in a one-to-one correspondence, and each of the at least one sub-third driving device is configured to drive the corresponding suspension device to move along the third direction to drive the corresponding surgical operation arm group to move along the third direction; alternatively, the at least one suspension device includes a plurality of suspension devices, the third driving device is connected to the plurality of suspension devices, and the third driving device is configured to drive the plurality of suspension devices to move along the third direction to drive the corresponding surgical operation arm group to move along the third direction.

[0018] For example, in the surgical robot device provided by an embodiment of the present disclosure, the third driving device is rotatable about a rotation axis along the third direction; and / or, the third driving device includes at least one joint, and the third driving device is configured to be bendable at the at least one joint; and / or, the third driving device is telescopic in the third direction.

[0019] For example, the surgical robot device provided by an embodiment of the present disclosure further includes a fixed connecting member, and the fixed connecting member fixes the first driving device and the second driving device to the building member in the operating room.

[0020] For example, in the surgical robot device provided by an embodiment of the present disclosure, each of the suspension devices includes a cylindrical fixed structure, the cylindrical fixed structure includes a first end away from the ground and a second end opposite to its first end, and the first end of the cylindrical fixed structure is connected to the driving device; the cylindrical fixed structure further includes a plurality of side surfaces, each of the plurality of side surfaces extends from the first end of the cylindrical fixed structure to the second end of the cylindrical fixed structure, and the non-working end of the surgical operation arm of each surgical operation arm group is fixed to at least one of the plurality of side surfaces.

[0021] For example, in the surgical robot device provided by an embodiment of the present disclosure, one surgical operation arm is fixed on each of the plurality of side surfaces; the heights of the surgical operation arms fixed on the plurality of side surfaces are the same or different from each other in the third direction.

[0022] For example, in the surgical robot device provided by an embodiment of the present disclosure, one surgical operation arm group includes a plurality of the surgical operation arms and an end general control structure, and each of the suspension devices includes a main body; the non-working ends of the plurality of surgical operation arms away from the ground converge and are connected to the end general control structure, and one end of the main body of the suspension device close to the ground is connected to the end general control structure; a control structure for controlling the operation of the plurality of surgical operation arms is provided in the end general control structure.

[0023] For example, in the surgical robot device provided by an embodiment of the present disclosure, the whole formed by the multiple surgical operation arms connected to the end general control structure includes a first part, a second part, and a third part arranged in the extending direction of the whole; in the first part, the multiple surgical operation arms are spaced apart from each other; outside the second part, a protective sleeve is provided, and the protective sleeve wraps the multiple surgical operation arms in the second part and makes the multiple surgical operation arms in the second part converge with each other, and the distance between the multiple surgical operation arms in the second part is less than the distance between the multiple surgical operation arms in the first part; in the third part, the multiple surgical operation arms extend out of the protective sleeve from the port of the protective sleeve far from the first part, and the multiple surgical operation arms in the third part are spaced apart from each other.

[0024] For example, the surgical robot device provided by an embodiment of the present disclosure includes a hoisting structure fixed to a building body; the driving device includes a first hoisting rod group, a second hoisting rod group, and a third hoisting rod group connected between the hoisting structure and the suspension device; each of the first hoisting rod group, the second hoisting rod group, and the third hoisting rod group includes at least two hoisting rods; each hoisting rod of the first hoisting rod group, each hoisting rod of the second hoisting rod group, and each hoisting rod of the third hoisting rod group respectively have a first end connected to the hoisting structure and a second end connected to the suspension device; and each hoisting rod of the first hoisting rod group, each hoisting rod of the second hoisting rod group, and each hoisting rod of the third hoisting rod group can be telescoped along their respective extending directions to jointly drive the suspension device to move in the first direction, the second direction, and the third direction.

[0025] For example, in the surgical robot device provided by an embodiment of the present disclosure, the driving device includes a suspension arm, one end of the suspension arm is connected to the end of the suspension device far from the ground, and the end of the suspension arm far from the suspension device is fixed to the building body; the suspension arm can rotate and / or be telescoped and / or be bent to drive the suspension device to move in the first direction, the second direction, and the third direction.

[0026] For example, in the surgical robot device provided by an embodiment of the present disclosure, each of the at least one suspension device includes at least one adjusting member and a suspension structure; at least one adjusting member is connected to the at least one surgical operation arm group in a one-to-one correspondence, and is configured to be rotatable and / or telescoped and / or bent to drive the corresponding surgical operation arm group to move along the multiple directions; the suspension structure is connected to the at least one adjusting member, and is configured to suspend the at least one adjusting member on the building member in the operating room to suspend the at least one surgical operation arm group in the operating room.

[0027] For example, in the surgical robot device provided by an embodiment of the present disclosure, the suspension structure is fixed or movable along the plurality of directions.

[0028] For example, in the surgical robot device provided by an embodiment of the present disclosure, the building component is the ceiling, cross beam, side wall or floor of the operating room.

[0029] For example, the surgical robot device provided by an embodiment of the present disclosure includes: a fixed bracket fixed on the ground, including a plurality of longitudinal brackets perpendicular to the ground and a plurality of transverse brackets connected to the plurality of longitudinal brackets and away from the ground, the transverse being perpendicular to the longitudinal; the suspension device is suspended on the transverse bracket so that the suspension device is indirectly connected to the ground and suspends the surgical operation arm in the operating room.

[0030] For example, in the surgical robot device provided by an embodiment of the present disclosure, the surgical robot device further includes: a power device configured to provide power to drive the suspension device to move in multiple directions; and a control module configured to control the operation of the power device; or, the suspension device moves by manual operation.

[0031] For example, in the surgical robot device provided by an embodiment of the present disclosure, control buttons are provided on the surgical operation arm, and the control buttons are configured to control the opening and closing of the control module; the control module controls the operation of the power device to drive the suspension device to move in the on state, and the control module controls the power device to stop driving the suspension device to move in the off state.

[0032] For example, the surgical robot device provided by an embodiment of the present disclosure further includes an image processing device and a doctor control platform. The image processing device is configured to acquire and display image information of a lesion during a surgical procedure, wherein the image processing device is connected to a building component in the operating room to be suspended in the operating room; the doctor control platform is wirelessly or wiredly connected to the surgical operation arm to control the operation of the surgical operation arm; in the case where the doctor control platform is wiredly connected to the surgical operation arm, the suspension device includes a box body connected to the surgical operation arm, and a signal line connecting the doctor control platform is disposed in the box body of the suspension device and in the surgical operation arm. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0034] Figure 1ASchematic diagram of the structure of a surgical robot device provided by an embodiment of the present disclosure;

[0035] Figure 1B For Figure 1A An enlarged schematic diagram of a partial L including a third driving device in ;

[0036] Figure 2 Planar schematic diagram of a surgical robot device provided by an embodiment of the present disclosure;

[0037] Figure 3 Planar schematic diagram of another surgical robot device provided by an embodiment of the present disclosure;

[0038] Figure 4A Planar schematic diagram of yet another surgical robot device provided by an embodiment of the present disclosure;

[0039] Figure 4B Planar schematic diagram of yet another surgical robot device provided by an embodiment of the present disclosure;

[0040] Figure 5A Planar schematic diagram of still another surgical robot device provided by an embodiment of the present disclosure;

[0041] Figure 5B Planar schematic diagram of still another surgical robot device provided by an embodiment of the present disclosure;

[0042] Figure 6 Schematic diagram of the connection relationship among the surgical operation platform, the doctor control platform, and the image processing device in a surgical robot device provided by an embodiment of the present disclosure;

[0043] Figure 7 Schematic diagram of the structure of another surgical robot device provided by an embodiment of the present disclosure;

[0044] Figure 8A Schematic diagram of another surgical robot device provided by at least one embodiment of the present disclosure;

[0045] Figure 8B For Figure 8A Schematic diagram of the suspension device and the surgical operation arm in ;

[0046] Figures 9A - 9C Schematic diagram of another surgical robot device provided by at least one embodiment of the present disclosure;

[0047] Figure 10 Schematic diagram of another surgical robot device provided by at least one embodiment of the present disclosure;

[0048] Figure 11 Schematic diagram of another surgical robot device provided by at least one embodiment of the present disclosure. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0050] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings as understood by those of ordinary skill in the art to which the present invention pertains. The terms "first", "second" and similar terms used in the specification and claims of this patent application of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "comprising" or "including" mean that the elements or items appearing before this term cover the elements or items listed after this term and their equivalents, without excluding other elements or items. The terms such as "inside", "outside", "above", "below", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0051] The drawings in this disclosure are not strictly drawn to actual scale, and the number of suspension devices and the number of surgical operating arms in each surgical operating arm group are not limited to the numbers shown in the figures. The specific dimensions and numbers of each structure can be determined according to actual needs. The drawings described in this disclosure are only schematic diagrams of the structures.

[0052] At least one embodiment of this disclosure provides a surgical robot device, which includes: a surgical operating arm and a suspension device. The suspension device is connected to the surgical operating arm and is connected to a building component in the operating room to suspend the surgical operating arm in the operating room. Among them, the suspension device is isolated from the ground in the operating room and is suspended, and can move in multiple directions to drive the surgical operating arm to move in multiple directions. The surgical operating arm of this surgical robot device has a relatively large adjustable distance range and a relatively large adjustable angle range in multiple directions, and is more flexible, and can better meet the requirements for the surgical operating arm during surgery, especially for complex surgeries.

[0053] Exemplarily, Figure 1A It is a schematic structural diagram of a surgical robot device provided by an embodiment of this disclosure. As Figure 1AAs shown, the surgical robot device 10 includes surgical operating arms 11 / 12 / 13 / 14 and a suspension device 2. The suspension device 2 is connected to the surgical operating arms 11 / 12 / 13 / 14 and is connected to a building component AC in the operating room to suspend the surgical operating arms 11 / 12 / 13 / 14 in the operating room; the suspension device 2 is isolated from the ground in the operating room and is suspended, and can move in multiple directions to drive the surgical operating arms 11 / 12 / 13 / 14 to move in multiple directions. This surgical robot device can suspend the surgical operating arms in the operating room, for example, directly above the bed where the patient undergoes surgery, facilitating the flexible movement of the surgical operating arms directly above the bed during the surgery, and changing the distance from the surgical operating arms to the patient in multiple directions at any time. Moreover, compared with ordinary surgical robots that can be moved on the ground, the surgical operating arms of the surgical robot device provided in the embodiments of the present disclosure have a larger range of adjustable distances and a larger range of adjustable angles in multiple directions, and are more flexible, which can better meet the requirements for surgical operating arms during surgery, especially for complex surgeries.

[0054] It should be noted that Figure 1A What is shown is the surgical operation platform of the surgical robot device, and this surgical operation platform is suspended above the bed where the surgery is performed during the surgery. The surgical robot device 10 provided in the embodiments of the present disclosure is different from conventional surgical robots that can move on the ground. In conventional surgical robots that can move on the ground, the surgical operating arms are arranged on a platform, and this platform is located on the ground and can move on the ground. When surgery is required, the platform is moved to place the surgical operation platform of the surgical robot beside the bed where the surgery is performed, rather than suspending the surgical operating arms on the building components in the operating room through the suspension device 2, and this suspension device 2 is isolated from the ground in the operating room and is suspended.

[0055] For example, the building component AC can be the ceiling of the operating room. Figure 1A Taking the case where the building component AC is the ceiling of the operating room and the surgical operating arms are suspended on the ceiling of the operating room as an example, it makes full use of the building walls of the operating room, is convenient for suspending the surgical operating arms of the surgical robot device, and is also convenient for the surgical operating arms to move above the bed where the surgery is performed, and it is easier to achieve the freedom and range of movement of the surgical operating arms in the space above the bed, and can better meet the requirements for the position of the surgical operating arms during surgery.

[0056] For example, the surgical robot device 10 includes at least one suspension device and at least one set of surgical operating arms. Each set of the at least one set of surgical operating arms includes at least one surgical operating arm. The at least one suspension device is connected to each set of the at least one set of surgical operating arms in a one-to-one correspondence; each of the at least one suspension devices is configured to be movable in multiple directions to drive the corresponding set of surgical operating arms to move in multiple directions.

[0057] For example, as Figure 1A shown, the surgical robot device 10 includes a suspension device 2 and a set of surgical operating arms 1. The suspension device 2 is connected to the set of surgical operating arms 1 correspondingly; the set of surgical operating arms 1 includes multiple, for example, four surgical operating arms, which are the first surgical operating arm 11, the second surgical operating arm 12, the third surgical operating arm 13, and the fourth surgical operating arm 14 respectively. For example, Figure 1A the illustrated embodiment takes the surgical robot including 4 surgical operating arms as an example. However, in other embodiments, it may also include fewer or more than 4 surgical operating arms. The solution of a set of surgical operating arms including one surgical operating arm can save space. One suspension device 2 can drive multiple surgical operating arms of the set of surgical operating arms to move as a whole in the multiple directions. For example, each surgical operating arm includes multiple joints. The surgical operating arm can bend around each of its joints, so that each surgical operating arm can be telescopic to meet the requirements of the surgical process. For example, each joint of the surgical operating arm includes an axis, and the parts on both sides of the joint can rotate around the axis, so that the surgical operating arm bends.

[0058] For example, in some embodiments, the surgical robot device 10 includes multiple suspension devices 2 and multiple sets of surgical operating arms. Each set of surgical operating arms only includes one surgical operating arm, that is, one suspension device is connected to one surgical operating arm, so that one suspension device drives one surgical operating arm to move in multiple directions to achieve the independent movement of each surgical operating arm in all directions.

[0059] For example, in Figure 1A the illustrated embodiment, the suspension device 2 is directly connected to the surgical operating arms 11 / 12 / 13 / 14; for example, in other embodiments, it may also be that the suspension device 2 is indirectly connected to the surgical operating arms 11 / 12 / 13 / 14. For example, the suspension device 2 includes a box body 210 and a fixing member 220 connected to the end of the box body 210 away from the ground. The box body 210 is connected to the first driving device 31 through the fixing member 220.

[0060] For example, each surgical operating arm, taking Figure 1ATaking the first surgical operation arm 11 in [it] as an example, it includes a working end E1 for performing surgery and a non-working end E2 opposite to the working end, and the suspension device is connected to the non-working end E1. During the process of performing surgery using this surgical robot device 10, surgical instruments are installed at the working end E1, and the surgical instruments are, for example, surgical scalpels, hemostatic forceps, puncture tools for making holes in the cavity of the surgical site for endoscopic surgery, etc.

[0061] For example, as Figure 1A shown, the multiple directions include a first direction D1, a second direction D2, and a third direction D3 that are perpendicular to each other, and the third direction D3 is perpendicular to the ground. The surgical robot device further includes a driving device configured to drive each of at least one suspension device independently to move along the first direction D1, the second direction D2, and the third direction D3. For example, as Figures 1A - 2 shown, the driving device includes: a first driving device 31, a second driving device 32, and a third driving device 33. The first driving device 31 is configured to drive at least one suspension device 2 to move along the first direction D1 to drive the corresponding surgical operation arm group 1 to move along the first direction D1; the second driving device 32 is configured to drive at least one suspension device 2 to move along the second direction D2 to drive the corresponding surgical operation arm group 1 to move along the second direction D2; the third driving device 33 is configured to drive at least one suspension device 2 to move along the third direction D3 to drive the corresponding surgical operation arm group 1 to move along the third direction D3; the first driving device 31 and the second driving device 32 are fixed to the building component AC in the operating room so that the suspension device 2 is connected to the building component AC in the operating room.

[0062] For example, as Figure 1A shown, the third driving device 33 is connected between the first driving device 31 and the suspension device 2 in the third direction D3; or, in other embodiments, the third driving device 33 is connected between the first driving device 31 and the second driving device 32 in the third direction D3.

[0063] Figure 2 It is a schematic plan view of a surgical robot device provided by an embodiment of the present disclosure. As Figure 1A and Figure 2As shown, for example, the first driving device 31 includes a first track 310 extending along the first direction D1; the second driving device 32 includes a second track 320 extending along the second direction D2; for example, there is only one first track 310 extending along the first direction D1 and one second track 320 extending along the second direction D2 respectively. The suspension device 2 is slidably connected to the first track 310 and configured to move along the first track 310 independently of each other to drive the corresponding surgical operation arm group 1 to move independently along the first direction D1; the first track 310 is slidably connected to the second track 320 and configured to move along the second track 320 to drive at least one suspension device 2 to move along the second direction D2.

[0064] As Figure 2 shown, for example, the surgical robot device includes Figure 1A the suspension device 2 and the surgical operation arm group 1 in Figure 2 the surgical operation arm group 1 is not shown in Figure 2 which mainly schematically shows the suspension device and the driving device for fixing the surgical operation arm group 1 to the building body of the operating room). For example, the second track includes: a first sub-track 321 and a second sub-track 322. Both the first sub-track 321 and the second sub-track 322 extend along the second direction D2, and the second sub-track 322 and the first sub-track 321 are arranged at intervals in the first direction D1. The first track 310 is configured to move along the first sub-track 321 and the second sub-track 322 simultaneously to drive the surgical operation arm group 1 to move along the second direction D2, so that the first track 310 moves more smoothly along the second direction D2, and thus the surgical operation arm group 1 moves more smoothly along the second direction D2, which is beneficial to improving the accuracy and stability of the position of the surgical operation arm group 1, and this is very crucial for meeting the requirements for the position of the surgical operation arm during the operation. Of course, in some other embodiments, the second driving device 32 may also include more than two tracks extending along the second direction, such as three, four, etc.

[0065] For example, the first sub-track 321 is located at the first end of the first track 310 in the first direction D1, and the second sub-track 322 is located at the second end of the first track 310 in the first direction D1 opposite to its first end; the first end and the second end of the first track 310 are slidably connected to the first sub-track 321 and the second sub-track 322 respectively, and are configured to move along the first sub-track 321 and the second sub-track 322 simultaneously to drive the surgical operation arm group 1 (surgical operation arms 11 / 12 / 13 / 14) to move along the second direction D2.

[0066] Figure 1B is Figure 1A an enlarged schematic view of a partial L including a third driving device in Figure 1A Combined with Figure 1B, the third driving device 33 includes a third sub-driving device which is correspondingly connected to the suspension device 2, and the third sub-driving device is configured to drive the corresponding suspension device 2 to move along the third direction D3 so as to drive the corresponding surgical operation arm group 1 to move along the third direction D3. For example, Figure 1A in [0000176], the surgical robot device 10 includes a suspension device 2. Correspondingly, the third driving device 33 includes a third sub-driving device correspondingly connected to the suspension device 2.

[0067] For example, as Figure 1B shown, the third sub-driving device includes a third sliding track 330 extending along the third direction D3. For example, the suspension device 2 is also configured to be slidably connected to the third track 330 and can move along the third track 330 in the third direction D3, so as to drive the surgical operation arm group 1 connected to the suspension device 2 to move along the third direction D3.

[0068] For example, the surgical robot device 10 further includes a power device and a control module. The power device is configured to provide power for driving the suspension device to move in multiple directions. The control module is configured to control the operation of the power device; alternatively, the suspension device moves through manual operation. For example, the first driving device 31, the second driving device 32, and the third driving device each include a power device respectively configured to drive the suspension device 2 to move along the first track 310, the second tracks 321 / 322, and the third track 330. Alternatively, the first driving device 31, the second driving device 32, and the third driving device share a power device. As long as the driving of the first driving device 31, the second driving device 32, and the third driving device can be achieved, for example, a motor, which is not limited in the embodiments of the present disclosure.

[0069] For example, control buttons are provided on each of the surgical operation arms 11 / 12 / 13 / 14. The control buttons are configured to control the opening and closing of the control module. When the control module is in the on state, it controls the power device to work to drive the suspension device to move. When the control module is in the off state, it controls the power device to stop driving the suspension device to move, so as to facilitate the operation of medical staff during the surgical process. Alternatively, the movement of the suspension device can be controlled by remote control. The design of the control module is not limited in the embodiments of the present disclosure.

[0070] For example, the third sub-driving device is rotatable about a rotation axis along the third direction D3; and / or the third sub-driving device includes at least one joint, and the third sub-driving device is configured to be bendable at at least one joint. For example, each joint of the at least one joint includes an axis, and the third sub-driving device rotates about the axis to achieve bending; and / or, the third sub-driving device is telescopic in the third direction D3 to change the position of the suspension device 2 in the third direction D3.

[0071] For example, the surgical robot device 10 further includes a fixing connector 9 that fixes the driving device to a building component AC in the operating room, such as the ceiling. For example, in Figure 1A and Figure 2 the illustrated embodiment, the fixing connector 9 fixes the first driving device 31 and the second driving device 32 to a building component AC in the operating room, such as the ceiling. For example, the third moving device is also disposed on the fixing connector 9.

[0072] For example, in some other embodiments, the building component AC may also be a crossbeam or a side wall (wall) of the operating room; alternatively, the building component AC is the ground. For example, the fixing connector 9 is directly fixed to the ground to directly fix the suspension device connected to the fixing connector 9 to the ground, and the suspension device is driven by the driving device to move in multiple directions.

[0073] Or, for example, in some other embodiments, such as Figure 7 illustrated, the surgical robot device 10 may include a fixing bracket fixed to the ground. The building component AC is fixed to the fixing bracket built on the ground of the operating room, and the suspension device may be directly fixed to the fixing bracket built on the ground of the operating room. The fixing bracket includes a plurality of longitudinal brackets 41 / 42 / 43 / 44 perpendicular to the ground and a plurality of transverse brackets 61 / 62 / 63 connected to the plurality of longitudinal brackets 41 / 42 / 43 / 44 and away from the ground, with the transverse being perpendicular to the longitudinal; the suspension device 2 is suspended on the transverse bracket 61 to suspend the surgical operation arm in the operating room. In this case, the setting of the first track 310 and the second track (for example, including a first sub-track 321 and a second sub-track 322) may refer to the description in the previous embodiment.

[0074] Figure 3 A schematic plan view of another surgical robot device provided by an embodiment of the present disclosure. For example, in another embodiment, such as Figure 3As shown, the surgical robot device 10 includes a plurality of suspension devices, namely a first suspension device 21, a second suspension device 22, a third suspension device 23, and a fourth suspension device 24; the first suspension device 21, the second suspension device 22, the third suspension device 23, and the fourth suspension device 24 are respectively connected to a first surgical operation arm group 1A, a second surgical operation arm group 1B, a third surgical operation arm group 1C, and a fourth surgical operation arm group 1D. For example, the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C, and the fourth surgical operation arm group 1D each include a surgical operation arm. The third driving device includes a plurality of third sub-driving devices, and the plurality of third sub-driving devices are connected to the plurality of suspension devices 21 / 22 / 23 / 24. The plurality of third sub-driving devices are respectively configured to drive the corresponding suspension device to move along the third direction D3 to drive the corresponding surgical operation arm group to move along the third direction D3. Each third sub-driving device has the same structure as the above-described one and can refer to the previous description.

[0075] As Figure 3 shown, each surgical operation arm includes a working end E1 and a non-working end E2 opposite to the working end, and the suspension device is connected to the non-working end E2. During the process of performing surgery using the surgical robot device 10, a surgical instrument fixing device 8 is installed at the working end E1, and a surgical instrument 80 is installed on the surgical instrument fixing device 8. The surgical instrument 80 is, for example, a scalpel, a hemostatic forceps, a puncture tool for making holes in the cavity of the surgical site for endoscopic surgery, etc. Each surgical operation arm includes a plurality of joints and can be bent and rotated around each joint.

[0076] As Figure 3As shown, for example, the first track includes a third sub-track 311 and a fourth sub-track 312. The third sub-track 311 and the fourth sub-track 312 extend along the first direction D1 respectively. The fourth sub-track 312 extends along the first direction D1 and is arranged at intervals from the third sub-track 311 in the second direction D2. The first part of the plurality of suspension devices, such as the first suspension device 21 and the second suspension device 22, is arranged on the third sub-track 311 and is configured to be movable along the third sub-track 311. The second part of the plurality of suspension devices, such as the third suspension device 23 and the fourth suspension device 24, is arranged on the fourth sub-track 312 and is configured to be movable along the fourth sub-track. The third sub-track 311 is configured to be movable along the second track to drive the first part of the suspension devices to move in the second direction D2. The fourth sub-track is configured to be movable along the second track to drive the second part of the suspension devices to move in the second direction D2. In this way, the movement of the first part of the movable suspension devices is independent of the movement of the second part of the movable suspension devices, so that the positions of the surgical operating arms connected to the first part of the movable suspension devices and the second part of the movable suspension devices in the second direction D2 can be controlled separately more flexibly.

[0077] For example, as Figure 3 shown, the third sub-track 311 is configured to be movable along the first sub-track 321 and the second sub-track 322 simultaneously to drive the first part of the suspension devices to move in the second direction D2. The fourth sub-track 312 is configured to be movable along the first sub-track 321 and the second sub-track 322 simultaneously to drive the second part of the suspension devices to move in the second direction D2. The movement of the third sub-track 311 is independent of the movement of the fourth sub-track 312. For example, the first sub-track 321 is located at the first ends of the third sub-track 311 and the fourth sub-track 312 in the first direction D1. The second sub-track 322 is located at the second ends of the third sub-track 311 and the fourth sub-track 312 in the first direction D1 opposite to their first ends. The first end and the second end of the third sub-track 311 are slidably connected to the first sub-track 321 and the second sub-track 322 respectively and are configured to move along the first sub-track 321 and the second sub-track 322 simultaneously to drive the first part of the suspension devices to move in the second direction D2. The first end and the second end of the fourth sub-track 312 are slidably connected to the first sub-track 321 and the second sub-track 322 respectively and are configured to move along the first sub-track 321 and the second sub-track 322 simultaneously to drive the second part of the suspension devices to move in the second direction D2.

[0078] When the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C, and the fourth surgical operation arm group 1D each include one surgical operation arm, the flexibility of controlling a single surgical operation arm can be improved.

[0079] For example, in Figure 3 the illustrated embodiment, the first part suspension device includes a plurality of suspension devices, and the second part suspension device includes a plurality of suspension devices.

[0080] For example, each track is driven by a lead screw or is belt-driven. When each track is driven by a lead screw, for example, the first sub-track includes a first lead screw, the screw rod of the first lead screw extends along the second direction D2, and the driving end of the first lead screw is located at the first end of the first sub-track in the second direction D2; the second sub-track includes a second lead screw, the screw rod of the second lead screw extends along the second direction D2, and the driving end of the second lead screw is located at the first end of the second sub-track in the second direction D2; the first lead screw and the second lead screw jointly drive the first track to move along the second track; the third sub-track includes a third lead screw, the screw rod of the third lead screw extends along the first direction D1, the driving end of the third lead screw is located at the first end of the third sub-track in the first direction D1, and the third lead screw drives the first part suspension device to move along the third sub-track; the fourth sub-track includes a fourth lead screw, the screw rod of the fourth lead screw extends along the first direction D1, the driving end of the fourth lead screw is located at the first end of the fourth sub-track in the first direction D1, and the fourth lead screw drives the second part suspension device to move along the fourth sub-track.

[0081] Figure 3 Other features of the illustrated embodiment can be referred to Figures 1A - 1B the illustrated embodiment and will not be repeated here.

[0082] Figure 4A is a schematic plan view of another surgical robot device provided by an embodiment of the present disclosure. In Figure 4A the illustrated embodiment, the number of suspension devices included in the first part suspension device is 1, and the number of suspension devices included in the second part suspension device is 1, that is, one suspension device is provided on a track extending along the first direction D1 to independently control the position of each suspension device and the surgical operation arm connected thereto in the second direction D1.

[0083] Such as Figure 4AAs shown, for example, a plurality of suspension devices 21 / 22 / 23 / 24 are slidably connected to a plurality of first tracks one by one. The multiple sub-tracks of the first track, namely the first sub-track 311, the second sub-track 312, the third sub-track 313, and the fourth sub-track 314, are arranged in the first direction D1 and configured to be movable along the corresponding first track independently of each other to drive the corresponding surgical operation arm group 1 to move independently in the first direction D1. The first sub-track 311, the second sub-track 312, the third sub-track 313, and the fourth sub-track 314 are slidably connected to the second track 321 and configured to be movable along the second track 321 / 322 to drive the plurality of suspension devices 2 to move in the second direction D2. Thus, each surgical operation arm group 1 can move independently in the first direction D1. Moreover, when each surgical operation arm group 1 respectively includes a surgical operation arm, the flexibility of controlling a single surgical operation arm can be improved.

[0084] Figure 4B A schematic plan view of another surgical robot device provided by an embodiment of the present disclosure. Figure 4B The embodiment shown in Figure 4A differs from the embodiment shown in Figure 4B in that, in the embodiment shown in

[0085] Figure 4B each end of each of the first sub-track 311, the second sub-track 312, the third sub-track 313, and the fourth sub-track 314 of the first track is respectively provided on the first sub-track 321 and the second sub-track 322 and configured to be movable along the first sub-track 321 and the second sub-track 322 simultaneously to drive the first part of the suspension devices to move in the second direction D2. Figure 4A For other features of the embodiment shown in

[0086] Figure 5A reference may be made to the embodiment shown in Figure 5B A schematic plan view of yet another surgical robot device provided by an embodiment of the present disclosure. It should be noted that, since Figure 5A and Figure 5B the embodiments shown in Figure 5A and Figure 5B differ mainly in the surgical operation arm group from the previous embodiments, Figure 3 or Figure 4A or Figure 4B only the surgical operation arm group is shown, and structures such as the suspension devices, the first track, and the second track are omitted. These omitted structures are the same as those in the embodiments shown in

[0087] As shown inFigure 5A As shown, each of at least one suspension device of the surgical robot device includes at least one adjusting member 51 / 52 / 53 / 54 and a suspension structure (not shown in the figure). At least one adjusting member 51 / 52 / 53 / 54 is disposed on the suspension structure. For example, at least one adjusting member 51 / 52 / 53 / 54 is connected to at least one surgical operation arm group 11 / 12 / 13 / 14 in one-to-one correspondence, and is configured to be rotatable and / or telescopic and / or bendable to drive the corresponding surgical operation arm group 11 / 12 / 13 / 14 to move in multiple directions, and the multiple directions include, for example, the above-mentioned first direction D1, second direction D2, and third direction D3; the suspension structure is connected to at least one adjusting member, and is configured to suspend at least one adjusting member 51 / 52 / 53 / 54 on the building member AC in the operating room so as to suspend at least one surgical operation arm group 11 / 12 / 13 / 14 in the operating room. For example, the suspension structure is fixed to the building member AC in the operating room via the above-mentioned fixed connecting member 9.

[0088] As Figure 5A shown, for each adjusting member, it can move from the position 1 shown by the dotted line to the position 2 shown by the solid line. Of course, the positions of each adjusting member are not limited to the positions 1 and 2, so as to drive the surgical operation arm group connected thereto to move.

[0089] For example, Figure 5A the suspension device of the embodiment shown includes a plurality of adjusting members and a plurality of suspension structures. The plurality of adjusting members are connected to the plurality of suspension structures in one-to-one correspondence. Taking the suspension device including four adjusting members and four suspension structures as an example. The four adjusting members are respectively a first adjusting member 51, a second adjusting member 52, a third adjusting member 53, and a fourth adjusting member 54. Each adjusting member (taking the first adjusting member 51 as an example) includes a first end F1 and a second end F2 opposite to the first end; for example, the first end F1 of each adjusting member is connected to the corresponding suspension structure of the plurality of suspension structures, the second end F2 of each adjusting member is connected to the corresponding surgical operation arm group, and each surgical operation arm group includes at least one surgical operation arm 11. For example, in this embodiment, each surgical operation arm group connected to each adjusting member includes one surgical operation arm, which are respectively a first surgical operation arm 11, a second surgical operation arm 12, a third surgical operation arm 13, and a fourth surgical operation arm 14. Of course, in other embodiments, multiple adjusting members may also be provided on one suspension structure.

[0090] Figure 5A The other structures of the surgical robot device of the embodiment shown may be the same as those of the previous embodiments, and reference may be made to the previous related descriptions.

[0091] Figure 5B The surgical robot device shown and Figure 5AThe difference shown is that the surgical operation arm groups 1A / 1B / 1C / 1D connected to each adjustment member 51 / 52 / 53 / 54 respectively include a plurality of surgical operation arms. In this way, more surgical operation arms can be controlled to move in the space above the hospital bed in multiple directions by using limited space. Figure 5B The other structures of the surgical robot device in the illustrated embodiment may be the same as those in the previous embodiment, and reference may be made to the previous relevant description.

[0092] For example, the suspension structure is fixed, or can move in multiple directions, or is rotatable.

[0093] For example, the control module can control the power device to drive the telescopic movement and rotational movement of at least one adjustment member, so as to realize that at least one adjustment member drives the surgical operation arm group connected thereto to move in multiple directions. The multiple directions include, for example, the above-mentioned first direction D1, second direction D2, and third direction D3.

[0094] Figure 6 It is a schematic diagram of the connection relationship among the surgical operation platform, doctor control platform, and image processing device in a surgical robot device provided by an embodiment of the present disclosure. For example, as Figure 6 shown, the surgical robot device further includes an image processing device 103 and a doctor control platform 101. The image processing device 103 is configured to acquire and display the image information of the lesion during the surgical process. For example, the image processing device 103 is connected to the building component AC in the operating room to be suspended in the operating room or set on the ground. For example, the image processing device 103 is movable or fixed on the ground. For example, the doctor control platform 101 is set on the ground and is movable or fixed on the ground.

[0095] For example, the doctor control platform 101 is wirelessly or wiredly connected to the surgical operation arm to control the operation of the surgical operation arm.

[0096] For example, when the doctor control platform 101 is wiredly connected to the surgical operation arms 11 / 12 / 13 / 14, the suspension device 2 includes a box body 210 connected to the surgical operation arm and a fixing member 220 connected to one end of the box body 210 away from the surgical operation arm. The signal line connecting the doctor control platform 101 is arranged in the box body 210 of the suspension device 2 and inside the surgical operation arms 11 / 12 / 13 / 14. That is, the first part of the signal line connecting the doctor control platform 101 can be arranged along the ground, and the second part of the signal line connecting the doctor control platform 101 and connected to the first part is buried inside the surgical operation arms 11 / 12 / 13 / 14. For example, the signal line connecting the doctor control platform is connected to the imaging processing system 103 along the cross beam of the surgical operation arm.

[0097] For example, another signal line is connected from the imaging processing system 103 to the doctor monitoring platform 101 along the ground to signal-connect the imaging processing system 103 and the doctor monitoring platform 101. Of course, these two can also be connected wirelessly.

[0098] Figure 8A FIG. is an overall schematic diagram of a surgical robot device provided by at least one embodiment of the present disclosure. Figure 8B is Figure 8A a schematic diagram of the suspension device and the surgical operating arm in []. As Figures 8A - 8B shown, each suspension device includes a columnar fixed structure 20. The columnar fixed structure 20 includes a first end 20A away from the ground and a second end 20B opposite to its first end 20A. The first end 20A of the columnar fixed structure 20 is connected to the driving device; the columnar fixed structure 20 further includes a plurality of sides 20a / 20b (due to the influence of the viewing angle, Figure 8B two sides 20a / 20b are shown in [], and there are more than two sides). Each of the two sides 20a / 20b extends from the first end 20A of the columnar fixed structure 20 to the second end 20B of the columnar fixed structure 20; the non-working ends of the surgical operating arms of each surgical operating arm group are fixed to at least one of the plurality of sides. For example, the surgical operating arm group connected to the suspension device includes a plurality of surgical operating arms 1A / 1B / 1C / 1D, and the non-working ends of the plurality of surgical operating arms 1A / 1B / 1C / 1D are fixed to the plurality of sides 20a / 20b of the columnar fixed structure 20.

[0099] For example, the shape of the columnar fixed structure 20 is generally a prism, and the plurality of sides 20a / 20b are the plurality of sides of the prism. For example, in at least one embodiment, one surgical operating arm is fixed on each side of the plurality of sides. In Figures 8A - 8B the shown embodiment, for example, the shape of the columnar fixed structure 20 is generally a quadrangular prism, and the first surgical operating arm group 1A, the second surgical operating arm group 1B, the third surgical operating arm group 1C, and the fourth surgical operating arm group 1D are respectively fixed on the four sides of the quadrangular prism.

[0100] For example, the heights of the surgical operating arms 1A / 1B / 1C / 1D fixed on the plurality of sides are different from each other in the third direction, so that each surgical operating arm has sufficient stretching space, so as to better move in three-dimensional space and reduce the interference between them in space. Of course, in other embodiments, the heights of the surgical operating arms 1A / 1B / 1C / 1D fixed on the plurality of sides can also be the same as long as the plurality of surgical operating arms do not interfere with each other's movement.

[0101] For example, for Figure 8BThe driving device, taking the rail-type driving device shown in any of the above embodiments as an example, one end 20A of the cylindrical fixed structure 20 away from the ground is slidably connected to the third rail 330, and is configured to be movable along the third rail 330 in the third direction D3, so as to drive the cylindrical fixed structure 20 to move in the third direction, thereby driving the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C, and the fourth surgical operation arm group 1D connected to the cylindrical fixed structure 20 (i.e., the suspension device) to move in the third direction D3.

[0102] Alternatively, in other embodiments, a plurality of surgical operation arms are fixed to one side surface of the cylindrical fixed structure 20. For example, no surgical operation arm is provided on at least one side surface, and the side surface without the surgical operation arm is slidably connected to the third rail 330 and is configured to be movable along the third rail 330 in the third direction D3, thereby driving the first surgical operation arm group 1A, the second surgical operation arm group 1B, the third surgical operation arm group 1C, and the fourth surgical operation arm group 1D connected to the suspension device to move in the third direction D3.

[0103] For Figures 8A - 8B the embodiment shown, the setting of the first rail and the second rail and the method of controlling the surgical operation arm groups connected to the suspension device to move in the first direction D1 and the second direction D2 respectively are the same as those in the previous embodiments. Please refer to the previous description and will not be repeated here. Of course, other driving devices mentioned in the embodiments of the present disclosure can also be used to replace Figure 8A the linear hoisting type driving device composed of the first rail, the second rail, and the third rail adopted in the embodiment shown.

[0104] Figures 9A - 9C is a schematic diagram of another surgical robot device provided by at least one embodiment of the present disclosure. This embodiment is different from the previous embodiments as follows. As Figures 9A - 9C shown, a surgical operation arm group includes a plurality of surgical operation arms and an end general control structure 100. Each suspension device includes a main body 2a; the non-working ends of the plurality of surgical operation arms away from the ground converge and are connected to the end general control structure 100, and one end of the main body 2a of the suspension device close to the ground is connected to the end general control structure 100; for example, one end of the main body 2a of the suspension device close to the ground is connected to the end general control structure 100. A control structure for controlling the operation of the plurality of surgical operation arms is provided in the end general control structure 100, and the control structure includes a mechanical control structure, a circuit, etc.

[0105] For example, the whole formed by a plurality of surgical operation arms connected to the end general control structure 100 includes a first part 100a, a second part 100b, and a third part 100c arranged in the extending direction of the whole. In the first part 100a, the plurality of surgical operation arms are spaced apart from each other; a protective sleeve is provided outside the second part 100b, and the protective sleeve wraps the plurality of surgical operation arms in the second part 100b and makes the plurality of surgical operation arms in the second part 100b converge with each other. The distance between the plurality of surgical operation arms in the second part 100b is smaller than the distance between the plurality of surgical operation arms in the first part 100a. For example, at least some of the plurality of surgical operation arms in the second part 100b are in contact with each other; in the third part 100c, the plurality of surgical operation arms extend out of the protective sleeve from the port of the protective sleeve away from the first part 100a, and the plurality of surgical operation arms in the third part 100c are spaced apart from each other. That is, in the third part 100c, no protective sleeve is provided, and the plurality of surgical operation arms diffuse from the port of the protective sleeve away from the first part 100a, and the plurality of surgical operation arms are spaced apart from each other again.

[0106] For example, the ends of the third part 100c away from the second part 100b respectively include a surgical execution device 100c-1 (such as a hemostatic forceps, a cutting knife, a clamping device, a ultrasonic scalpel, etc.) and a laparoscope 100c-2.

[0107] For example, for Figure 9A the driving device shown, taking the rail-type driving device shown in any of the above embodiments as an example, one end 2b of the main body 2a away from the ground is slidably connected to the third rail 330, and is configured to be movable along the third rail 330 in the third direction D3, so as to drive the surgical operation arm group connected to the suspension device to move in the third direction D3.

[0108] Using Figures 9A - 9C the structure shown realizes that the surgical operation arm is hoisted on the building body of the operating room and its movement in the three-dimensional space. The structure is simple, has a high applicability, and is flexible in moving above the operating table during the surgical process. Using Figures 9A - 9C When performing a surgery with the surgical operation arm shown, a hole can be opened on the body surface of the patient, and the second part 100b and the third part 100c can enter the cavity of the patient through the hole, with less trauma. This hoisting method only needs to hoist the general control structure 100 of the part, which is convenient for moving the surgical operation arm in the three-dimensional direction, simplifies the hoisting structure, and is easy to operate.

[0109] For Figures 9A - 9CIn the illustrated embodiment, the arrangements of the first track and the second track, and the method of controlling the surgical operation arm group connected to the suspension device to move along the first direction D1 and the second direction D2 respectively are the same as those in the previous embodiments. Please refer to the previous descriptions and will not be repeated here. Of course, other driving devices mentioned in the embodiments of the present disclosure can also be used to replace Figure 9A the linear hoisting method driving device constituted by the first track, the second track and the third track adopted in the illustrated embodiment.

[0110] In the previous embodiments, the suspension device was hoisted by a linear hoisting method. Figure 10 FIG. is a schematic diagram of another surgical robot device provided by at least one embodiment of the present disclosure. In Figure 10 the illustrated embodiment, the suspension device is hoisted by a parallel hoisting method. As Figure 10 shown, the surgical robot device includes a hoisting structure 300 connected to the building body and a suspension device 200. The hoisting structure 300 is fixed to the building body; the driving device includes a first hoisting rod group 201, a second hoisting rod group 202 and a third hoisting rod group 203 connected between the hoisting structure 300 and the suspension device 200. Each of the first hoisting rod group 201, the second hoisting rod group 202 and the third hoisting rod group 203 includes at least two hoisting rods. Each hoisting rod of the first hoisting rod group 201, each hoisting rod of the second hoisting rod group 202 and each hoisting rod of the third hoisting rod group 203 respectively have a first end connected to the hoisting structure 300 and a second end connected to the suspension device 200; and each hoisting rod of the first hoisting rod group 201, each hoisting rod of the second hoisting rod group 202 and each hoisting rod of the third hoisting rod group 203 are telescopic to jointly drive the suspension device 200 to move in the first direction, the second direction and the third direction, that is, to jointly drive the suspension device 200 to move in three-dimensional space to set the position of the suspension device 200 in three-dimensional space.

[0111] For example, the first hoisting rod group 201 includes a first hoisting rod 201a and a second hoisting rod 201b, the second hoisting rod group 202 includes a third hoisting rod 202a and a fourth hoisting rod 202b, and the third hoisting rod group 203 includes a fifth hoisting rod 203a and a sixth hoisting rod 203b. The suspension device 200 includes a bearing surface 200a away from the surgical operating arms 11 / 12 / 13 / 14d. The second ends of each hoisting rod of the first hoisting rod group 201, each hoisting rod of the second hoisting rod group 202, and each hoisting rod of the third hoisting rod group 203 are fixed on the bearing surface 200a. The first hoisting rod 202a and the second hoisting rod 202b, the third hoisting rod 202a and the fourth hoisting rod 202b, and the fifth hoisting rod 203a and the sixth hoisting rod 203b can be telescoped along their respective extending directions to cooperate to change the positions of the suspension device 200 and the surgical operating arms 11 / 12 / 13 / 14 connected to the suspension device 200 in the first direction D1, the second direction D2, and the third direction D3, so as to set the position of the suspension device 200 in the three-dimensional space.

[0112] It should be noted that Figure 10 the shown driving device can also be combined with Figure 8B the shown suspension device and the surgical operating arm, or combined with Figure 9B the shown suspension device and the surgical operating arm to obtain a new embodiment.

[0113] For example, the planar shape of the track 200a is annular, such as a circular ring. Of course, the planar shape of the hoisting structure 300 can also be a polygonal ring, such as a triangular ring, a quadrilateral ring, etc., or a plurality of intersecting straight lines, such as including a straight track extending along the first direction D1 and a straight track extending along the second direction D2. The embodiments of the present disclosure do not limit this.

[0114] Figure 11 It is a schematic diagram of another surgical robot device provided by at least one embodiment of the present disclosure. In Figure 11 the shown embodiment, a series hoisting method is adopted to hoist the suspension device. As Figure 11 shown, the driving device includes a suspension arm 240. One end of the suspension arm 240 is connected to the end of the suspension device 2 away from the ground. The end of the suspension arm 240 away from the suspension device 2, that is, the end of the suspension arm 240 away from the surgical operating arms 11 / 12 / 13 / 14, is fixed to a building body, which can be any one of the above building bodies such as a ceiling; the suspension arm 240 can rotate and / or be telescoped and / or be bent to drive the suspension device 2 to move in the first direction D1, the second direction D1, and the third direction D1, so as to drive the surgical operating arms 11 / 12 / 13 / 14 to move in the first direction D1, the second direction D2, and the third direction D3.

[0115] For example, the suspension arm 240 includes a plurality of joints, and each of the plurality of joints can rotate 360°.

[0116] For example, the suspension device 2 includes a box body 210. One end of the suspension arm 240 is connected to one end of the box body 210 away from the ground, and one end of the suspension arm 240 away from the surgical operating arms 11 / 12 / 13 / 14 is fixed to the ceiling of a building body, such as an operating room.

[0117] For example, in Figure 11 , a plurality of surgical operating arms 11 / 12 / 13 / 14 are commonly connected to one suspension arm 240. In other embodiments, it may also be that one surgical operating arm is connected to one suspension arm 240, so as to drive each surgical operating arm to move in the first direction D1, the second direction D2, and the third direction D3 separately through each suspension arm 240, realizing the independence of the movement of each surgical operating arm in three-dimensional directions and increasing the flexibility of position control of different surgical operating arms during the surgical process.

[0118] In other embodiments, a hoisting method combining series and parallel may also be adopted to hoist the suspension device, that is, Figure 10 the shown parallel drive device is taken as a whole and connected in series with Figure 11 the shown series drive device, and the suspension device and the surgical operating arm connected to the suspension device are hoisted to the building body of the operating room through one of Figure 10 the shown parallel drive device and Figure 11 the shown series drive device. At the same time, the positions of the suspension device and the surgical operating arm connected to the suspension device are jointly determined by the movements of the parallel drive device and the series drive device; or, the Figure 10 shown parallel drive device and Figure 11 the shown series drive device are both adopted. And Figure 10 the shown parallel drive device and Figure 11 the shown series drive device are independent of each other. The suspension device and the surgical operating arm connected to the suspension device are hoisted to the building body of the operating room through Figure 10 the shown parallel drive device and Figure 11 the shown series drive device respectively, and the positions of the suspension device and the surgical operating arm connected to the suspension device connected thereto are controlled respectively.

[0119] The above description is only a demonstrative embodiment of the present invention and is not used to limit the protection scope of the present invention. The protection scope of the present invention is determined by the appended claims.

Claims

1. A surgical robot device, comprising: A surgical operating arm; And A suspension device, connected to the surgical operating arm and connected to a building component in the operating room to suspend the surgical operating arm in the operating room, wherein the suspension device is isolated from the ground in the operating room and suspended in the air, and can move in multiple directions to drive the surgical operating arm to move in multiple directions; The surgical operating arm includes a working end for performing surgery and a non-working end opposite to the working end, and the suspension device is connected to the non-working end; The surgical robot device includes at least one of the suspension devices and at least one surgical operating arm group, and each group of the at least one surgical operating arm group includes at least one of the surgical operating arms, and the at least one suspension device is connected to the at least one surgical operating arm group in a one-to-one correspondence; Each of the at least one suspension devices is configured to move in the multiple directions to drive the corresponding surgical operating arm group to move in the multiple directions; The multiple directions include a first direction, a second direction, and a third direction that are perpendicular to each other, and the third direction is perpendicular to the ground; The surgical robot device further includes: A driving device configured to drive each of the at least one suspension devices to independently move in the first direction, the second direction, and the third direction; The driving device includes: A first driving device configured to drive the at least one suspension device to move in the first direction to drive the corresponding surgical operating arm group to move in the first direction; A second driving device configured to drive the at least one suspension device to move in the second direction to drive the corresponding surgical operating arm group to move in the second direction; and A third driving device configured to drive the at least one suspension device to move in the third direction to drive the corresponding surgical operating arm group to move in the third direction, The first driving device and the second driving device are fixed to the building component in the operating room so that the suspension device is connected to the building component in the operating room, and the third driving device is connected between the first driving device and the suspension device in the third direction or is connected between the second driving device and the suspension device in the third direction; The first driving device includes a first track extending in the first direction; The second driving device includes a second track extending in the second direction; The at least one suspension device is slidably connected to the first track, arranged in the first direction, and configured to be able to move independently of each other along the first track to drive the corresponding surgical operating arm group to move independently in the first direction; The first track is slidably connected to the second track and is configured to be able to move along the second track to drive the at least one suspension device to move in the second direction; The first track includes: A third sub-track extending in the first direction; and A fourth sub-track extending in the first direction and spaced apart from the third sub-track in the second direction, wherein, The first part of the at least one suspension device is disposed on the third sub-rail and configured to be movable along the third sub-rail; The second part of the at least one suspension device is disposed on the fourth sub-rail and configured to be movable along the fourth sub-rail; The third sub-rail is configured to be movable along the second rail to drive the first part of the suspension device to move in the second direction, and the fourth sub-rail is configured to be movable along the second rail to drive the second part of the suspension device to move in the second direction; The movement of the first part of the movable suspension device is independent of the movement of the second part of the suspension device; The number of suspension devices included in the first part of the suspension device is 1, and the number of suspension devices included in the second part of the suspension device is 1.

2. The surgical robot device according to claim 1, wherein, The second rail includes: A first sub-rail extending in the second direction; and A second sub-rail extending in the second direction and spaced apart from the first sub-rail in the first direction, wherein, The first rail is configured to be movable along the first sub-rail and the second sub-rail simultaneously to drive the surgical operating arm to move in the second direction.

3. The surgical robot device according to claim 2, wherein, The first sub-rail is located at the first end of the first rail in the first direction, and the second sub-rail is located at the second end of the first rail opposite to its first end in the first direction; The first end and the second end of the first rail are respectively slidably connected to the first sub-rail and the second sub-rail and configured to move along the first sub-rail and the second sub-rail simultaneously to drive the surgical operating arm to move in the second direction.

4. The surgical robot device according to claim 1 or 2, wherein, In the case where the second rail includes a first sub-rail and a second sub-rail, The third sub-rail is configured to be movable along the first sub-rail and the second sub-rail simultaneously to drive the first part of the suspension device to move in the second direction, and the fourth sub-rail is configured to be movable along the first sub-rail and the second sub-rail simultaneously to drive the second part of the suspension device to move in the second direction. The movement of the third sub-rail is independent of the movement of the fourth sub-rail.

5. The surgical robot device according to claim 4, wherein, The first sub-rail is located at the first end of the third sub-rail in the first direction and the first end of the fourth sub-rail in the first direction, and the second sub-rail is located at the second end of the third sub-rail opposite to its first end in the first direction and the second end of the fourth sub-rail opposite to its first end in the first direction; The first end and the second end of the third sub-rail are respectively slidably connected to the first sub-rail and the second sub-rail and configured to move along the first sub-rail and the second sub-rail simultaneously to drive the first part of the suspension device to move in the second direction; The first end and the second end of the fourth sub-orbit are respectively slidably connected to the first sub-orbit and the second sub-orbit, and are configured to simultaneously move along the first sub-orbit and the second sub-orbit respectively to drive the second part of the suspension device to move along the second direction.

6. The surgical robot device according to any one of claims 1-3, wherein The third driving device includes at least one sub-third driving device, the at least one sub-third driving device is connected to the at least one suspension device in a one-to-one correspondence, and each of the at least one sub-third driving devices is configured to drive the corresponding suspension device to move along the third direction to drive the corresponding surgical operation arm group to move along the third direction; or, The at least one suspension device includes a plurality of suspension devices, the third driving device is connected to the plurality of suspension devices, and the third driving device is configured to drive the plurality of suspension devices to move along the third direction to drive the corresponding surgical operation arm group to move along the third direction.

7. The surgical robot device according to any one of claims 1-3, wherein The third driving device is rotatable about a rotation axis along the third direction; and / or The third driving device includes at least one joint, and the third driving device is configured to be bendable at the at least one joint; and / or, The third driving device is telescopic in the third direction.

8. The surgical robot device according to any one of claims 1-3, further comprising: A fixing connector for fixing the first driving device and the second driving device to the building member in the operating room.

9. The surgical robot device according to any one of claims 1-3, wherein, Each of the suspension devices includes a cylindrical fixing structure, the cylindrical fixing structure includes a first end away from the ground and a second end opposite to its first end, and the first end of the cylindrical fixing structure is connected to the driving device; The cylindrical fixing structure further includes a plurality of side surfaces, each of the plurality of side surfaces extends from the first end of the cylindrical fixing structure to the second end of the cylindrical fixing structure, and the non-working ends of the surgical operation arms of each surgical operation arm group are fixed to at least one of the plurality of side surfaces.

10. The surgical robot device according to claim 9, wherein, One surgical operation arm is fixed on each side surface of the plurality of side surfaces; The heights of the surgical operation arms fixed on the plurality of side surfaces in the third direction are the same or different from each other.

11. The surgical robot device according to any one of claims 1-3, wherein, One surgical operation arm group includes a plurality of the surgical operation arms and an end general control structure, and each suspension device includes a main body; The non-working ends of the plurality of surgical operation arms away from the ground converge and are connected to the end general control structure, and the end of the main body of the suspension device close to the ground is connected to the end general control structure; a control structure for controlling the operation of the plurality of surgical operation arms is provided in the end general control structure.

12. The surgical robot device according to claim 11, wherein, The whole formed by the plurality of surgical operation arms connected to the end general control structure includes a first part, a second part and a third part arranged in the extending direction of the whole; In the first part, the multiple surgical operating arms are spaced apart from each other; a protective sleeve is disposed outside the second part, the protective sleeve wraps the multiple surgical operating arms in the second part and brings the multiple surgical operating arms in the second part closer together, and the distance between the multiple surgical operating arms in the second part is less than the distance between the multiple surgical operating arms in the first part; In the third part, the multiple surgical operating arms extend out of the protective sleeve from the port of the protective sleeve away from the first part, and the multiple surgical operating arms in the third part are spaced apart from each other.

13. The surgical robot device according to any one of claims 1-3, wherein, The building component is the ceiling, cross beam, side wall or floor of the operating room.

14. The surgical robot device according to claim 13, comprising: The fixed bracket fixed on the ground includes a plurality of longitudinal brackets perpendicular to the ground and a plurality of transverse brackets connected to the plurality of longitudinal brackets and away from the ground, and the transverse is perpendicular to the longitudinal; The suspension device is suspended on the transverse bracket so that the suspension device is indirectly connected to the ground and suspends the surgical operating arm in the operating room.

15. The surgical robot device according to any one of claims 1-3, wherein, The surgical robot device further includes: a power device configured to provide power to drive the suspension device to move in multiple directions; and a control module configured to control the operation of the power device; or, The suspension device moves by manual operation.

16. The surgical robot device according to claim 15, wherein, Control buttons are provided on the surgical operating arm, and the control buttons are configured to control the opening and closing of the control module; The control module controls the power device to work to drive the suspension device to move in the on state, and the control module controls the power device to stop driving the suspension device to move in the off state.

17. The surgical robot device according to any one of claims 1-3 further includes: An image processing device configured to acquire and display image information of a lesion during a surgical procedure, wherein the image processing device is connected to a building component in the operating room to be suspended in the operating room; and A doctor control platform is wirelessly or wiredly connected to the surgical operating arm to control the operation of the surgical operating arm, wherein, In the case where the doctor control platform is wiredly connected to the surgical operating arm, the suspension device includes a box body connected to the surgical operating arm, and a signal line connecting the doctor control platform is disposed in the box body of the suspension device and in the surgical operating arm.

Images