A robot

Abstract

The embodiment of the specification discloses a robot, comprising: a trolley mechanism, the trolley mechanism comprising a positioning assembly and a directional assembly, the directional assembly being arranged at the rear end of the positioning assembly; a switching mechanism, the switching mechanism comprising a C-shaped arm and a connecting assembly, the outer side of the C-shaped arm being connected to the rear end of the directional assembly, and the connecting assembly being connected to the inner side of the C-shaped arm; the connecting assembly has a rotation degree of freedom rotating along the circumference of the C-shaped arm; a plurality of mechanical arm mechanisms are respectively rotatably connected to the rear end of the connecting assembly; each of the plurality of mechanical arm mechanisms comprises an adjusting assembly and a telecentric assembly.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of minimally invasive surgery robots, and in particular, to a robot. BACKGROUND

[0002] Minimally invasive surgeries performed by endoscopic surgery robots are becoming more and more common, and common endoscopic surgery robots are mostly multi-port surgery robots and single-port surgery robots. Among them, the surgery ranges adapted by multi-port surgery robots and single-port surgery robots are different. Specifically, multi-port surgery robots are applied to multi-port minimally invasive surgeries, and single-port surgery robots are applied to single-port minimally invasive surgeries. For different patients or different types of minimally invasive surgeries, hospitals usually need to equip multi-port surgery robots and single-port surgery robots at the same time to meet the corresponding surgery requirements.

[0003] Therefore, it is desirable to provide a robot capable of having both multi-port minimally invasive surgery function and single-port minimally invasive surgery function, so as to avoid hospitals purchasing single-port surgery robots and multi-port surgery robots at the same time, and reduce the purchase and use cost. SUMMARY

[0004] One of the embodiments of the present application provides a robot, comprising: a trolley mechanism, the trolley mechanism comprising a positioning assembly and a directional assembly, the directional assembly being arranged at the rear end of the positioning assembly; a switching mechanism, the switching mechanism comprising a C-shaped arm and a connecting assembly, the outer side of the C-shaped arm being connected to the rear end of the directional assembly, and the connecting assembly being connected to the inner side of the C-shaped arm; the connecting assembly has a rotation degree of freedom rotating along the circumference of the C-shaped arm; a plurality of mechanical arm mechanisms, each of which is rotatably connected to the rear end of the connecting assembly; each of the plurality of mechanical arm mechanisms comprises an adjusting assembly and a telecentric assembly.

[0005] In some embodiments, the adjusting assembly comprises a first moving part and a second moving part connected in series, and the moving directions of the first moving part and the second moving part are perpendicular to each other.

[0006] In some embodiments, the adjusting assembly further comprises a rotating part connected between the rear end of the second moving part and the telecentric assembly, and the rotating part is used to provide a three-axis rotation degree of freedom to the telecentric assembly.

[0007] In some embodiments, the telecentric assembly comprises a first parallel linkage arm, a second parallel linkage arm, a third parallel linkage arm and an execution arm; the first parallel linkage arm, the second parallel linkage arm, the third parallel linkage arm and the execution arm constitute a parallel linkage mechanism; wherein the parallel linkage mechanism has a preset telecentric fixed point.

[0008] In some embodiments, the execution arm is provided with a mounting end head for mounting an end instrument; wherein the mounting end head is movable relative to the execution arm along a length direction of the execution arm.

[0009] In some embodiments, a line between the mounting end head and the telecentric fixed point is parallel to the length direction of the execution arm.

[0010] In some embodiments, the robot has a single-hole working mode and a multi-hole working mode.

[0011] In some embodiments, when the robot is in the single-hole working mode, the execution arms of the plurality of mechanical arm mechanisms are mutually close to each other around a line between the center of the connecting assembly and the center of the C-arm, and the plurality of mechanical arm mechanisms are fixed relative to the connecting assembly.

[0012] In some embodiments, in the single-hole working mode, the center of the C-arm coincides with the telecentric fixed point.

[0013] In some embodiments, when the robot is in the multi-hole working mode, a rotation freedom of the connecting assembly along a circumferential direction of the C-arm is limited.

[0014] In some embodiments, in the multi-hole working mode, the center of the connecting assembly is located in a direction of the rotation axis of the orientation assembly. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present application will be further described in the manner of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same reference numbers represent the same structures, wherein:

[0016] Figure 1 is a perspective structural schematic view of a robot provided according to some embodiments of the present application;

[0017] Figure 2 is a front view of a robot provided according to some embodiments of the present application;

[0018] Figure 3 is a perspective structural schematic view of a mechanical arm mechanism shown according to some embodiments of the present application;

[0019] Figure 4 is a planar rotation schematic view of a mechanical arm mechanism shown according to some embodiments of the present application;

[0020] Figure 5 is a planar rotation schematic view of a mechanical arm mechanism shown according to some embodiments of the present application;

[0021] Figure 6 is a working schematic of a robot according to some embodiments of the present specification when in a single-hole working mode;

[0022] Figure 7 is a working schematic of a robot according to some embodiments of the present specification when in a single-hole working mode;

[0023] Figure 8 is a schematic of an end-effector according to some embodiments of the present specification;

[0024] Figure 9 is a working schematic of a robot according to some embodiments of the present specification when in a multi-hole working mode;

[0025] Figure 10 is a working schematic of a robot according to some embodiments of the present specification when in a multi-hole working mode, from another perspective. DETAILED DESCRIPTION

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, the present application can also be applied to other similar scenarios without creative labor. Unless it is clear from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0027] Minimally invasive surgery has many advantages such as small incision, less bleeding, fast recovery and cosmetic effect. Nowadays, traditional minimally invasive surgery tools used to perform minimally invasive surgery have been gradually replaced by minimally invasive surgery robots. Minimally invasive surgery robots can efficiently, safely and accurately perform minimally invasive surgery with the assistance of an endoscope. Minimally invasive surgery robots can be roughly divided into single-hole surgery robots and multi-hole surgery robots. Among them, the single-hole surgery robot only needs to open an operation hole with a relatively large aperture (for example, 5mm-8mm) when performing surgical operations. The operation hole can be used for observation and operation at the same time, and the opening difficulty is relatively small. The rear end of the mechanical arm of the single-hole surgery robot is mostly a multi-joint flexible instrument. The mechanical arm can complete the corresponding surgical action without movement, and there is no problem of collision between the mechanical arms. However, because the distance between the instrument of the single-hole surgery robot and the endoscope is relatively close, the operation space is relatively small, and the range of surgery that can be adapted is relatively small. It can only be used for some small lesion areas and simple anatomical structures, such as minimally invasive surgery of gallbladder and fallopian tube. In addition to opening an observation hole, the multi-hole surgery robot needs to additionally open an operation hole when performing surgical operations. For example, when performing an appendectomy, an operation hole is opened in the left lower abdomen and the right lower abdomen. For example, when performing a stomach operation, 3-4 operation holes need to be additionally opened. The multi-hole surgery robot has a larger operation space and can be used for surgeries with larger lesion areas and more complex anatomical structures, such as total gastrectomy, laparoscopic pancreaticoduodenectomy and laparoscopic splenectomy. The range of surgery that can be adapted is relatively large. However, in order to meet the field of view requirements of the endoscope, there are strict requirements for the relative positions of each hole when performing surgery through the multi-hole surgery robot. The aperture of the operation hole to be opened is relatively small, and the opening difficulty is relatively large. In addition, the mechanical arms of the multi-hole surgery robot are prone to collision, which will adversely affect the service life of the robot.

[0028] Because there are many types of minimally invasive surgery, the lesion areas of different patients (for example, size, anatomical structure, etc.) are also different, and the surgical requirements that can be met by single-hole surgery robots and multi-hole surgery robots are limited. To this end, hospitals need to equip single-hole surgery robots and multi-hole surgery robots at the same time to meet the surgical requirements of different patients and different types of minimally invasive surgery, which will undoubtedly increase the procurement cost of hospitals.

[0029] The robot provided by the embodiments of the present specification has a trolley mechanism, a switching mechanism, and a plurality of mechanical arm mechanisms. The trolley mechanism comprises a positioning assembly and a directional assembly, the directional assembly is arranged at the rear end of the positioning assembly and has a rotational degree of freedom relative to the positioning assembly; the switching mechanism comprises a C-shaped arm and a connecting assembly, the outer side of the C-shaped arm is connected to the rear end of the directional assembly, the connecting assembly is connected to the inner side of the C-shaped arm, and the connecting assembly has a rotational degree of freedom along the circumference of the C-shaped arm; the plurality of mechanical arm mechanisms are rotatably connected to the rear end of the connecting assembly respectively, and each of the plurality of mechanical arm mechanisms comprises an adjusting assembly and a telecentric assembly. The robot provided by the embodiments of the present specification has a single-hole surgical working mode and a multi-hole surgical working mode, and the single-hole surgical working mode and the multi-hole surgical working mode can be switched by the cooperation between the mechanisms. For example, for a surgery with a small lesion area or a simple anatomical structure of the lesion area, the single-hole working mode can be switched; and for a surgery with a large lesion area or a complex anatomical structure of the lesion area, the multi-hole working mode can be switched. The robot provided by the embodiments of the present specification has the functions of single-hole minimally invasive surgery and multi-hole minimally invasive surgery, can realize diversified surgeries, and is more flexible in man-machine combination. Meanwhile, hospitals can avoid purchasing single-hole surgical robots and multi-hole surgical robots simultaneously, thereby reducing the purchase and use costs.

[0030] The robot provided by the embodiments of the present specification will be described in detail below with reference to the accompanying drawings.

[0031] Figure 1 FIG. 1 is a perspective view of a robot according to some embodiments of the present specification. Figure 2 FIG. 2 is a front view of the robot according to some embodiments of the present specification.

[0032] FIG. 3 is a schematic view of the robot according to some embodiments of the present specification. Figure 1 FIG. 4 is a schematic view of the robot according to some embodiments of the present specification. Figure 2 As shown in FIGS. 3 and 4, the robot 1 comprises a trolley mechanism 10, a switching mechanism 20, and a plurality of mechanical arm mechanisms 30.

[0033] The trolley mechanism 10 can be used to adjust the position and posture of the robot 1 and part of the mechanisms (for example, the switching mechanism 20 and the plurality of mechanical arm mechanisms 30) of the robot 1. As shown in FIG. 3, the trolley mechanism 10 can comprise a positioning assembly 11 and a directional assembly 12. Figure 1 The positioning assembly 11 can be used to adjust the spatial position of the switching mechanism 20 and the plurality of mechanical arm mechanisms 30 (for example, to adjust the position of the switching mechanism 20 and the plurality of mechanical arm mechanisms 30 in the X direction and the Y direction) and to adjust the position of the entire robot 1 on the ground. As shown in FIG. 3, the positioning assembly 11 can comprise a plurality of wheels 111 and a plurality of driving assemblies 112.

[0034] Figure 1 ​As shown, the positioning assembly 11 can include a base 111, a lifting column 112, and a telescopic arm 113. The base 111 serves as the base of the robot 1, and can support the entire robot 1 and provide moving and steering functions to facilitate the transfer of the robot 1 and the adjustment of the position of the entire robot 1 on the ground. The trolley mechanism 10 can further include a handrail 114, and the operator can push and manipulate the handrail 114 to achieve the movement and steering of the robot 1. Further, one side of the base 111 close to the ground can be provided with a plurality of rollers 1111, which can rotate relative to the base 111. The movement and rotation of the rollers 1111 on the ground can achieve the movement and steering of the robot 1 (the base 111) on the ground. In some embodiments, the rollers can be provided with corresponding brake devices (e.g., brake pads) (not shown in the figure), which can fix the robot 1 at a specified position to implement the surgery and ensure the stability of the robot during the surgery.

[0035] The lifting column 112 can be provided on the base 111 to provide the robot 1 with a degree of freedom for lifting movement along the length direction of the lifting column 112 (e.g., the Y direction as shown). Figure 1 The lifting movement of the lifting column 112 can achieve the overall lifting movement of the rear end of the lifting column 112 and the components and / or mechanisms (e.g., the telescopic arm 113, the positioning assembly 12, the switching mechanism 20, and the plurality of mechanical arm mechanisms 30) directly or indirectly connected to the rear end of the lifting column 112 relative to the base 11 along the Y direction, thereby achieving the position adjustment of the switching mechanism 20 and the plurality of mechanical arm mechanisms 30 in the Y direction. As an exemplary illustration, the lifting column 112 can include a first column body provided with a groove or cavity along the Y direction, and a second column body which can slide (i.e., lifting movement) relative to the first column body along the Y direction within the groove or cavity, thereby forming a telescopic mechanism with the first column body. In some embodiments, the sliding of the second column body relative to the first column body along the Y direction within the groove or cavity can be driven by a linear driving mechanism such as a motor, a hydraulic cylinder, an air cylinder, etc. It should be noted that the "rear end" referred to in this specification can refer to the end of each component or assembly in the connection path formed by the connection of the base 111 in the robot 1, away from the base 111, without special instructions. For example, the end of the lifting column 112 connected to the telescopic arm 113 is the rear end of the lifting column 112. For another example, the end of the telescopic arm 113 connected to the positioning assembly 12 is the rear end of the telescopic arm 113. For another example, the end of the positioning assembly 12 connected to the switching mechanism 20 (C-arm 21) is the rear end of the positioning assembly 12.

[0036] The telescopic arm 113 can be connected to the rear end of the lifting column 112 to provide the robot 1 with a degree of freedom for telescopic movement along the length direction of the telescopic arm 113 (e.g., the X direction as shown).Figure 1 The telescopic arm 113 has a telescopic degree of freedom in the X direction (as shown in the figure). Specifically, the telescopic movement of the telescopic arm 113 can realize the telescopic movement of the rear end of the telescopic arm 113 and the components and / or mechanisms (for example, the positioning assembly 12, the switching mechanism 20, and the plurality of mechanical arm mechanisms 30) directly or indirectly connected with the rear end of the telescopic arm 113 as a whole relative to the lifting column 112 in the X direction, thereby realizing the position adjustment of the switching mechanism 20 and the plurality of mechanical arm mechanisms 30 in the X direction. More description about the structure of the telescopic arm 113 can be referred to the relevant description of the lifting column 112, which will not be described here again.

[0037] The orientation assembly 12 can be arranged at the rear end of the positioning assembly 11 (the telescopic arm 113) and has a rotational degree of freedom relative to the positioning assembly 11, so that the rear end of the orientation assembly 12 and the components and / or mechanisms connected with the rear end can rotate as a whole relative to the positioning assembly 11. The orientation assembly 12 can be used to adjust the posture (for example, the rotation angle) of the switching mechanism 20 and the plurality of mechanical arm mechanisms 30. In some embodiments, the orientation assembly 12 can be a rotary joint (for example, a revolute pair, a cylindrical pair, a spherical pair, etc.) arranged between the positioning assembly 11 (the telescopic arm 113) and the switching mechanism 20 (the C-shaped arm 21). As an exemplary illustration, the orientation assembly 12 can include a rotation shaft arranged between the positioning assembly 11 and the switching mechanism 20, which can be driven by a corresponding driving mechanism (for example, a motor) (not shown in the figure) to drive the switching mechanism 20 to rotate relative to the positioning assembly 11, thereby realizing the posture adjustment of the switching mechanism 20 and the plurality of mechanical arm mechanisms 30, for example, the rotation angle adjustment of the switching mechanism 20 and the plurality of mechanical arm mechanisms 30 around the rotation axis of the positioning assembly 11.

[0038] The switching mechanism 20 and / or the plurality of mechanical arm mechanisms 30 can be used to realize the switching of the robot 1 between the single-hole working mode and the multi-hole working mode. The description of how the robot 1 switches to the single-hole working mode and the multi-hole working mode can be found elsewhere in this specification, which will not be described here again.

[0039] Continuing to refer to Figure 3As shown, the switching mechanism 20 can include a C-arm 21 and a connecting assembly 22. Wherein, the outer side (i.e. the side with larger radius) of the C-arm 21 is connected to the rear end of the orientation assembly 12, the connecting assembly 22 is connected to the inner side (i.e. the side with smaller radius) of the C-arm 21 and has a rotation freedom of rotating along the circumference of the C-arm 21, so that the connecting assembly 22 and the plurality of mechanical arm mechanisms connected to the connecting assembly 22 can rotate simultaneously along the circumference of the C-arm 21. As an exemplary illustration, the connecting assembly 22 can slide along the inner side of the C-arm 21 under the driving of the corresponding driving structure, i.e. the sliding track of the connecting assembly 22 coincides with the profile of the inner side of the C-arm 21, thus, the sliding of the connecting assembly 22 along the inner side of the C-arm 21 can be regarded as the rotation of the connecting assembly 22 along the circumference of the C-arm 21. In some embodiments, the connecting assembly 22 can be fixed to the inner side of the C-arm 21, while the C-arm 21 is slidingly connected to the orientation assembly 12, i.e. the C-arm 21 can slide along the circumference of the C-arm 21 relative to the orientation assembly 12, so that the connecting assembly 22 also has the rotation freedom of rotating along the circumference of the C-arm 21.

[0040] The plurality of mechanical arm mechanisms 30 can be respectively connected to the rear end (i.e. the end opposite to the C-arm relative to the connecting assembly 22) of the connecting assembly 22, i.e. the plurality of mechanical arm mechanisms 30 can rotate relative to the connecting assembly 22. The rear end of each of the plurality of mechanical arm mechanisms 30 can be connected to a relevant surgical instrument (e.g. a puncture needle, a hemostatic clip, a surgical knife, etc.) to perform a corresponding surgical operation. Further, each of the plurality of mechanical arm mechanisms 30 can include an adjustment assembly and a telecentric assembly, through the coordinated movement of the plurality of components in the adjustment assembly and the telecentric assembly, not only can the robot 1 be switched between the single-hole working mode and the multi-hole working mode by the switching mechanism 20, but also can be used to adjust the position and attitude of the corresponding surgical instrument, which is conducive to improving the smoothness and accuracy of the surgery. In some embodiments, the number of the mechanical arm mechanisms 30 in the robot 1 can be set according to actual needs, for example, for the current common abdominal single-hole or multi-hole minimally invasive surgery, the number of the mechanical arm mechanisms 30 in the robot 1 can be set to 2-4.

[0041] The mechanical arm mechanism 30 will be described in detail below in combination with the accompanying drawings.

[0042] Figure 4 is a perspective structural schematic diagram of the mechanical arm mechanism according to some embodiments of the present specification. Figure 5 and Figures 3-5 is a planar rotation schematic diagram of the mechanical arm mechanism according to some embodiments of the present specification.

[0043] in combination Figures 3-5 As shown, each of the plurality of mechanical arm mechanisms 30 can include an adjustment assembly 31 and a telecentric assembly 32.

[0044] In some embodiments, the adjusting assembly 31 can include a first moving component 311 and a second moving component 312 connected in series, and the moving directions of the first moving component 311 and the second moving component 312 are perpendicular to each other. Specifically, the first moving component 311 has a moving degree of freedom along its length direction or can provide a moving degree of freedom along its length direction, and the second moving component 312 can provide a moving degree of freedom along its length direction, i.e., the length directions of the first moving component 311 and the second moving component 312 are the respective moving directions. In some embodiments, the first moving component 311 having a moving degree of freedom along its length direction can mean that the first moving component 311 can move as a whole along its length direction, e.g., the first moving component 311 can slide relative to the connecting assembly 22 along its length direction. In some embodiments, the first moving component 311 providing a moving degree of freedom along its length direction can mean that the rear end of the first moving component 311, the second moving component 312 connected to the rear end of the first moving component 311, and the telecentric assembly 32 move as a whole along the length direction of the first moving component 311 under the driving of the first moving component 311. For example, the first moving component 311 can be provided as a telescopic structure, and the rear end of the first moving component 311 (i.e., the end connected to the second moving component 312) can perform telescopic movement relative to the end of the first moving component 311 connected to the connecting assembly 22. In some embodiments, the second moving component 312 can be made to slide along the length direction of the first moving component 311 to replace the moving degree of freedom of the first moving component 311 along its length direction or the moving degree of freedom provided by the first moving component 311 along its length direction. In some embodiments, the first moving component 311 can be made to move along a direction parallel to the length direction of the second moving component 312 to replace the moving degree of freedom provided by the second moving component 312 along its length direction. It should be noted that the “length direction” of a component (e.g., the first moving component 311, the second moving component 312, etc.) referred to in the present specification can mean the axial direction of the component, or can mean the direction along or parallel to the longest side of the component.

[0045] In some embodiments, continuing to refer to Figure 4As shown, the adjustment assembly can further include a rotating component 313 connected between the rear end of the second moving component 312 and the telecentric assembly 32. In some embodiments, the rotating component 313 can provide three-axis rotational freedom to the telecentric assembly 32. Specifically, the rotating component 313 can include a first rotating piece 3131 rotatably connected with the rear end of the second rotating component 312 and a second rotating piece 3132 rotatably connected with the telecentric assembly 32 (the first parallel linkage arm 321), the first rotating piece 3131 and the second rotating piece 3132 being rotatably connected with each other. Further, the three-axis rotational freedom provided by the rotating component 313 to the telecentric assembly 32 can include rotation of the first rotating piece 3131 together with the second rotating piece 3132 and the telecentric assembly 32 about the axis Z1 relative to the second moving component 312, rotation of the second rotating piece 3132 together with the telecentric assembly 32 about the axis Z2 relative to the first rotating piece 3131, and rotation of the telecentric assembly 32 about the axis Z3 relative to the second rotating piece 3132. Wherein, the axis Z1 is parallel to the length direction of the second moving component 312 (e.g., the horizontal direction in Figure 4 ), the axis Z3 is parallel to the length direction of the first parallel linkage arm 321 in the telecentric assembly 32 (e.g., the vertical direction in Figure 4 ), and the axis Z2 is perpendicular to the axis Z1 and the axis Z3 (i.e., the axis Z2 is perpendicular to the plane of the paper Figure 6 ).

[0046] In some embodiments, the telecentric assembly 32 can include a first parallel linkage arm 321, a second parallel linkage arm 322, a third parallel linkage arm 323, and an execution arm 324. The first parallel linkage arm 321, the second parallel linkage arm 322, the third parallel linkage arm 323, and the execution arm 324 can constitute a parallel linkage mechanism, wherein the parallel linkage mechanism has a preset telecentric fixed point P. Specifically, the first parallel linkage arm 321, the second parallel linkage arm 322, the third parallel linkage arm 323, and the execution arm 324 are sequentially rotationally connected, such that the first parallel linkage arm 321, the second parallel linkage arm 322, the third parallel linkage arm 323, and the execution arm 324 can all rotate about an axis of rotation Z4 between the first parallel linkage arm 321 and the second parallel linkage arm 322, while rotating about the telecentric fixed point. The angle of relative rotation between the second parallel linkage arm 322 and the third parallel linkage arm 323, the angle of relative rotation between the first parallel linkage arm 321 and the second parallel linkage arm 322, the angle of relative rotation between the third parallel linkage arm 323 and the execution arm 324, and the angle of rotation of the execution arm 324 about the telecentric fixed point are the same. By such an arrangement, the relative rotation between the first parallel linkage arm 321 and the second parallel linkage arm 322, the relative rotation between the second parallel linkage arm 322 and the third parallel linkage arm 323, and the relative rotation between the third parallel linkage arm 323 and the execution arm 324 can be driven by only one driving device. For example, a driving device can be provided between the first parallel linkage arm 321 and the second parallel linkage arm 322 to drive the relative rotation between the first parallel linkage arm 321 and the second parallel linkage arm 322, and the relative rotation between the second parallel linkage arm 322 and the third parallel linkage arm 323 and the relative rotation between the third parallel linkage arm 323 and the execution arm 324 also occur. The angle of relative rotation between the second parallel linkage arm 322 and the third parallel linkage arm 323, the angle of relative rotation between the third parallel linkage arm 323 and the execution arm 324, and the angle of rotation of the execution arm 324 about the telecentric fixed point can be determined by the angle of relative rotation between the first parallel linkage arm 321 and the second parallel linkage arm 322. In some embodiments, the telecentric fixed point of the parallel linkage mechanism constituted by the first parallel linkage arm 321, the second parallel linkage arm 322, the third parallel linkage arm 323, and the execution arm 324 can be set according to actual needs. For example, the telecentric fixed point of the parallel linkage mechanism can be set according to the center of the C-arm 21. For another example, the telecentric fixed point of the parallel linkage mechanism can be set according to the position of the operation hole opened for single-hole minimally invasive surgery or multi-hole minimally invasive surgery.

[0047] In some embodiments, the execution arm 324 can be provided with a mounting end 3241, which can be used to mount an end instrument 325 (e.g., an endoscope, a puncture needle, a hemostatic clamp, a scalpel, etc.). The mounting end 3241 can be movable relative to the execution arm 324 along the length direction of the execution arm 324, so as to adjust the position of the end instrument 325 along the length direction of the execution arm 324, and facilitate the surgical operation. In some embodiments, the end instrument 325 can be rotated relative to the mounting end 3241 about its own axis.

[0048] In some embodiments, the line between the mounting end 3241 and the telecentric fixed point P can be parallel to the length direction of the execution arm 324. By such arrangement, the end instrument 325 mounted on the mounting end 3241 can be parallel to the length direction of the execution arm 324, and the end instrument 325 can be aligned with the telecentric fixed point P arranged according to the operation hole during the operation, so as to facilitate the end instrument 325 to enter the operation hole and perform observation and / or corresponding surgical operation.

[0049] The robot 1 provided by the embodiments of the present specification has the single-hole working mode and the multi-hole working mode by adopting the structural arrangement in the above embodiments. The robot 1 can have both the single-hole minimally invasive surgery function and the multi-hole minimally invasive surgery function by switching between the single-hole working mode and the multi-hole working mode, so that the single-hole minimally invasive surgery and the multi-hole minimally invasive surgery can be completed by the same robot, thereby reducing the cost of purchasing the surgical robot.

[0050] The single-hole working mode, the multi-hole working mode, and the switching between the single-hole working mode and the multi-hole working mode of the robot 1 will be described below in combination with the accompanying drawings.

[0051] Figure 7 And Figure 6 is a working schematic diagram of the robot according to some embodiments of the present specification when in the single-hole working mode.

[0052] As Figure 7 And Figure 6As shown, the robot 1 can perform a single-port operation on a target object 50 placed on the operating bed 40. The target object 50 can be a test model, a patient, or a body part (e.g., a chest, an abdomen, etc.) of the patient. The target object 50 can have an operation hole 60 formed thereon. When the robot 1 is in the single-port operation mode, the execution arms 324 of the plurality of robotic arm mechanisms 30 are moved towards each other around the line L1 connecting the center of the connection assembly 22 and the C-arm, and the plurality of robotic arm mechanisms 30 are fixed relative to the connection assembly 22. In some embodiments, the plurality of driving devices can be controlled to stop driving the plurality of robotic arm mechanisms 30 to rotate relative to the connection assembly 22, so that the plurality of robotic arm mechanisms 30 can be kept fixed relative to the connection assembly 22. In some embodiments, the execution arms 324 of the plurality of robotic arm mechanisms 30 being moved towards each other around the line L1 connecting the center of the connection assembly 22 and the C-arm can mean that the execution arms 324 of the plurality of robotic arm mechanisms 30 are parallel to the line L1 and keep a small distance. By moving the execution arms 324 of the plurality of robotic arm mechanisms 30 towards each other around the line L1 connecting the center of the connection assembly 22 and the C-arm, the end instruments 325 on the execution arms 324 of the plurality of robotic arm mechanisms 30 can be combined, and it can be ensured that the single end instrument 325 or the combined end instrument 325 can be aligned with the operation hole 60 and then enter the human body through the operation hole 60 to reach the lesion site for observation and / or operation. In addition, the closer the execution arms 324 of the plurality of robotic arm mechanisms 30 are moved towards each other around the line L1 connecting the center of the connection assembly 22 and the C-arm 21, the smaller the distance between the execution arms 324 and the line L1, and the smaller the radial size of the combined end instrument 325, so that the aperture of the operation hole 60 does not need to be too large, thereby reducing the difficulty of forming the operation hole 60 and ensuring that the postoperative wound is small, which is beneficial to the recovery of the patient. In some embodiments, the center of the connection assembly 22 can be the geometric center of the connection assembly 22. For example, when the connection assembly 22 is a disc-shaped structure, the center of the connection assembly 22 is the center of the disc-shaped structure. In some embodiments, when the robot 1 is in the single-port operation mode, the center of the C-arm 21 can coincide with the telecentric fixed point P, which can be set according to the position of the operation hole 60, so that the single end instrument 325 or the combined end instrument 325 can be aligned with the operation hole 60, and the single end instrument 325 or the combined end instrument 325 can be easily entered into the operation hole 60 for single-port operation.

[0053] As an example, when the robot 1 needs to perform a single-hole surgery, the operator can adjust the connecting assembly 22 to the appropriate position inside the C-arm, then inhibit the movement of the C-arm, adjust the movement freedom and rotation freedom in the adjustment assembly 31, make the execution arms 324 of the plurality of mechanical arm mechanisms 30 approach each other around the line L1 between the center of the connecting assembly 22 and the C-arm, after being in place, inhibit the freedom of other components (for example, the positioning assembly 11, the orientation assembly 12, the switching mechanism 20, and the mechanical arm mechanism 30) in the robot 1 except for the end instrument 325, only keep the movement freedom and rotation freedom of the end instrument 325, and the robot 1 switches to the single-hole working mode.

[0054] In some embodiments, there is a preset included angle between the line L1 between the center of the connecting assembly 22 and the C-arm and the rotation axis L2 of the orientation assembly 12. In some embodiments, the size of the preset included angle can be adjusted by rotating the connecting assembly 22 circumferentially along the C-arm 21 (or sliding the connecting assembly 22 on the inner side of the C-arm 21). In some embodiments, the preset included angle can be adjusted according to actual surgical needs (for example, the lesion site of the patient, the type of end instrument, etc.). In some embodiments, the end instrument 325 can include an endoscope, and by having a preset included angle between the line L1 between the center of the connecting assembly 22 and the C-arm and the rotation axis L2 of the orientation assembly 12, it is beneficial for the endoscope to have a larger field of view after entering the human body through the operation hole 60, so as to better achieve the observation of the lesion site. In some embodiments, in order to ensure that the endoscope has a larger field of view when entering the operation hole 60 without affecting the operation of other end instruments 325, the preset included angle between the line L1 between the center of the connecting assembly 22 and the C-arm and the rotation axis L2 of the orientation assembly 12 can be -120°~120°. In some embodiments, on the circular surface surrounded by the C-arm 21, when the line L1 is located on the side of the rotation axis L2 close to the lifting column 112, the preset included angle is negative (as shown in FIG. 6A); and when the line L1 is located on the side of the rotation axis L2 away from the lifting column 112, the preset included angle is positive (as shown in FIG. 6B). Figure 7 Figure 8

[0055] In some embodiments, when the robot 1 is in the single-hole working mode, the freedom of other components (for example, the positioning assembly 11, the orientation assembly 12, the switching mechanism 20, and the mechanical arm mechanism 30) in the robot 1 can be inhibited, and only the mounting head 3241 can continue to move and rotate to perform single-hole surgery operation. By such arrangement, the problem of collision between the plurality of mechanical arm mechanisms 30 due to interference between them during the surgery can be avoided, thereby reducing the precision, service life, etc. of the mechanical arm mechanism 30.

[0056] ​​Since the distal end instrument 325 relies solely on the mounting end 3241 for movement and rotation, insufficient degrees of freedom may occur during surgical procedures. In some embodiments, to compensate for this insufficient degrees of freedom and facilitate surgical procedures using the distal end instrument 325, such as... Figure 9 As shown, the end effector 325 may include a multi-degree-of-freedom flexible joint 3251 (e.g., a snake bone structure).

[0057] Figure 10 This is a schematic diagram illustrating the operation of the robot in a multi-hole working mode according to some embodiments of this specification. Figure 9 This is a working schematic diagram from another perspective of the robot in a multi-hole working mode, as shown in some embodiments of this specification.

[0058] like Figure 10 and ​ As shown, the target object 50 has multiple operating holes 60. When the robot 1 is in multi-hole working mode, the rotational freedom of the connecting component 22 along the circumference of the C-arm 21 is restricted, that is, the connecting component 22 and the C-arm 21 remain relatively fixed. At this time, the center of the connecting component 22 is located in the direction of the rotation axis of the orientation component 12, that is, the line connecting the center of the connecting component 22 and the center of the C-arm 21 coincides with the rotation axis of the orientation component 12. This ensures that each robotic arm mechanism 30 can obtain a large motion angle, which facilitates surgical operations. In some embodiments, the telecentric fixed point in the parallel linkage mechanism of each robotic arm mechanism 30 is set according to the position of the corresponding operating hole 60, so as to ensure that the end effector 325 on the execution arm 324 of each robotic arm mechanism 30 can enter the human body corresponding to one operating hole 60 and reach the lesion site for surgical operations.

[0059] As an example, when robot 1 needs to perform multi-port surgery, the operator can rotate the connecting component 22 around the circumference of the C-arm 21 to the direction of the rotation axis of the orientation component 12, then suppress the movement of the C-arm 21, and then rotate multiple robotic arm mechanisms 30 relative to the connecting component 22 to move them away from each other. At this time, robot 1 switches to multi-port working mode, and then inserts the end effector 325 on the execution arm 324 of each robotic arm mechanism 30 into the corresponding operating hole. After insertion, all degrees of freedom of the adjustment component 31 are suppressed, and only the degrees of freedom of the parallel linkage mechanism are retained to participate in the surgical operation. By moving the multiple robotic arm mechanisms 30 away from each other, a larger operating space can be provided for the multiple robotic arm mechanisms 30, preventing interference and collisions between them, thereby reducing the accuracy and service life of the robotic arm mechanisms 30.

[0060] The beneficial effects that the embodiments of the present specification can bring include but are not limited to: (1) the robot provided by the embodiments of the present specification has a single-hole working mode and a multi-hole working mode, and has both single-hole surgery function and multi-hole surgery function, so that a hospital does not need to equip both a single-hole surgery robot and a multi-hole surgery robot, thereby saving costs; (2) the robot provided by the embodiments of the present specification switches the single-hole working mode and the multi-hole working mode through a switching mechanism and activation or inhibition of mutual movement between various components or parts, which is simple and efficient in operation and is conducive to man-machine combination; (3) when the robot provided by the embodiments of the present specification is in the single-hole working mode, a preset included angle exists between a line connecting the center of the connecting component and the C-arm and an axis of rotation of the orientation component, which is conducive to the end instrument being an endoscope, and the endoscope obtaining a larger field of view of a lesion site after entering the human body through the operation hole, and is conducive to observation of the lesion site by the endoscope; (4) when the robot provided by the embodiments of the present specification is in the single-hole working mode, only the freedom of movement of the end instrument is retained, which can avoid the problem of reduced precision and service life caused by interference and collision between the mechanical arm mechanisms; (5) when the robot provided by the embodiments of the present specification is in the single-hole working mode, the end instrument includes a flexible joint with multiple degrees of freedom, which can make up for the insufficient degrees of freedom of the end instrument and facilitate surgical operation; (6) when the robot provided by the embodiments of the present specification is in the multi-hole working mode, the line connecting the center of the connecting component and the center of the C-arm coincides with the axis of rotation of the orientation component, which can ensure that each mechanical arm mechanism can obtain a larger movement angle and facilitate surgical operation; (7) when the robot provided by the embodiments of the present specification is in the multi-hole working mode, the multiple mechanical arm mechanisms are away from each other, which can provide a larger operation space for the multiple mechanical arm mechanisms and prevent the problem of reduced precision and service life caused by interference and collision between the mechanical arm mechanisms; (8) the epifocus of the parallel linkage mechanism in the mechanical arm mechanism coincides with the center of the C-arm and / or the position of the operation hole, which facilitates the end instrument to enter the operation hole for surgical operation.

[0061] It should be noted that different embodiments can produce different beneficial effects, and in different embodiments, the beneficial effects that can be produced can be any one or a combination of the above, or any other beneficial effects that can be obtained.

[0062] The above has described the basic concepts, and it is obvious that the above detailed disclosure is only taken as an example and does not constitute a limitation on the present application. Although it is not explicitly stated herein, those skilled in the art can make various modifications, improvements and corrections to the present application. Such modifications, improvements and corrections are suggested in the present application, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0063] Also, the use of "a" or "an" to describe an element of the application is merely for convenience and is not intended in an exclusive sense unless specifically stated otherwise. Additionally, words such as "comprise," "have," "attach," "contain," "hold," "include," "retain," "maintain," "carry," and the like are to be understood to allow for exceptions.

[0064] Similarly, it is to be noticed that the term "comprising", used in the description, is not intended to exclude other elements or steps. It is to be understood that the description and the examples are intended to be illustrative, but not limiting, of the scope of the application.

[0065] Some embodiments use numerical ranges to describe quantities of components, attributes, etc. It should be understood that such numerical ranges described in the embodiments are, in some examples, modified by the word "about". Unless otherwise stated, "about" indicates that the exact stated value plus or minus 20% is intended. Accordingly, numerical parameters in the specification and claims are approximations, and thus can vary depending upon the desired properties sought to be obtained by the particular embodiments. In some embodiments, numerical parameters are approximations and can vary depending upon the desired properties sought to be obtained by the particular embodiments. In some embodiments, numerical parameters should be considered in the context of the number of significant digits used for the quantity. The use of "about" can convey the approximate but desired properties sought to be obtained by the particular embodiments. In some embodiments, numerically- controlled parameters are set to the exact values specified in the claims.

[0066] Finally, it should be understood that the embodiments described herein are merely examples of embodiments of the application. Other variations of the embodiments can also be possible and are within the scope of the application. Thus, for example, an alternative configuration of the embodiments of the application can be considered as consistent with the teachings of the application. Accordingly, the embodiments of the application are not limited to the embodiments explicitly described and illustrated herein.

Claims

1. A robot, characterized in that, The robot comprises: a trolley mechanism, which comprises a positioning assembly and a directional assembly arranged at the rear end of the positioning assembly; a switching mechanism, which comprises a C-arm and a connecting assembly, the outer side of the C-arm being connected to the rear end of the directional assembly, and the connecting assembly being connected to the inner side of the C-arm; the connecting assembly has a rotation freedom degree along the circumference of the C-arm; a plurality of mechanical arm mechanisms, each of which is rotatably connected to the rear end of the connecting assembly; each of the plurality of mechanical arm mechanisms comprises an adjusting assembly and a telecentric assembly; the adjusting assembly comprises a first moving part and a second moving part connected in series, the moving directions of the first moving part and the second moving part being perpendicular to each other, and the first moving part being slidable along the length direction thereof relative to the connecting assembly; the robot has a single-hole working mode and a multi-hole working mode; when the robot is in the single-hole working mode, the execution arms of the plurality of mechanical arm mechanisms are moved towards each other around the line between the center of the connecting assembly and the center of the C-arm, and the plurality of mechanical arm mechanisms are fixed relative to the connecting assembly; when the robot is in the multi-hole working mode, the rotation freedom degree of the connecting assembly along the circumference of the C-arm is limited; when the freedom degrees of the positioning assembly, the directional assembly, the switching mechanism and the mechanical arm mechanisms are inhibited, the robot switches to the single-hole working mode.

2. The robot of claim 1, wherein, The adjusting assembly further comprises a rotating part connected between the rear end of the second moving part and the telecentric assembly, which is used to provide the telecentric assembly with a three-axis rotation freedom degree.

3. The robot of claim 2, wherein, The telecentric assembly comprises a first parallel linkage arm, a second parallel linkage arm, a third parallel linkage arm and an execution arm; the first parallel linkage arm, the second parallel linkage arm, the third parallel linkage arm and the execution arm constitute a parallel linkage mechanism; wherein the parallel linkage mechanism has a preset telecentric fixed point.

4. The robot of claim 3, wherein, An installation end head is arranged on the execution arm, which is used to install an end instrument; wherein the installation end head is movable relative to the execution arm along the length direction of the execution arm.

5. The robot of claim 4, wherein, The line between the installation end head and the telecentric fixed point is parallel to the length direction of the execution arm.

6. The robot of claim 5, wherein, In the single-hole working mode, the center of the C-arm coincides with the telecentric fixed point.

7. The robot of claim 1, wherein, In the multi-hole working mode, the center of the connecting assembly is located in the rotation axis direction of the directional assembly.

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