Surgical robot, main operating table, posture adjustment mechanism and its adjustment part, ball pair structure

Abstract

The present invention relates to a surgical robot, a main operating table, a posture adjustment mechanism and its adjustment part, and a ball-joint structure. The posture adjustment mechanism includes: a first adjustment part; a second adjustment part; and a coupling part; the postures of the first adjustment part and the second adjustment part are both adjustable, and the first adjustment part and the second adjustment part are disconnectably coupled through a detachable connection with the coupling part. When the first adjustment part and the second adjustment part are disconnected, the first adjustment part and the second adjustment part can adjust their postures separately, or, when the first adjustment part and the second adjustment part are coupled, the first adjustment part and the second adjustment part can be adjusted in conjunction to ensure that the two always remain basically parallel through basically consistent posture changes. By utilizing the coupling of the first adjustment part and the second adjustment part in the posture adjustment mechanism, the imaging part and the reference part can always be basically parallel, and the input part can be intuitively controlled based on the imaging part.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a surgical robot, a main operating table, a posture adjustment mechanism and an adjustment part thereof, and a ball pair structure. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. A surgical robot consists of a master console and slave operating devices. The slave operating devices include multiple manipulators, including a camera arm with an imaging end-use instrument and a surgical arm with an operating end-use instrument. The master console includes a display and a handle. The surgeon manipulates the handle to control the movement of the camera arm or surgical arm, while viewing the field of view provided by the camera arm on the display.

[0004] In the prior art, the movement of the operating arm is usually presented based on the coordinate system of the display, and the control of the movement of the operating arm by the handle is presented based on another coordinate system. However, the two coordinate systems are usually not unified, which makes the doctor's control of the movement of the operating arm through the handle and the movement of the operating arm seen by the doctor presented on the operation image inconsistent, which is not conducive to achieving intuitive control. Summary of the Invention

[0005] Based on this, it is necessary to provide a surgical robot, a main operating table, a posture adjustment mechanism and its adjustment part, and a ball pair structure that are easy to implement intuitive control.

[0006] On the one hand, the present invention provides a posture adjustment mechanism, including: a first adjustment part; a second adjustment part; and a coupling part; the postures of the first adjustment part and the second adjustment part are both adjustable, and the first adjustment part and the second adjustment part are disconnectably coupled through a detachable connection with the coupling part. When the first adjustment part and the second adjustment part are disconnected, the first adjustment part and the second adjustment part can adjust their postures separately, or, when the first adjustment part and the second adjustment part are coupled, the first adjustment part and the second adjustment part can be adjusted in conjunction to ensure that the two always remain basically parallel through basically consistent posture changes.

[0007] Optionally, the first adjustment part and the second adjustment part are both adjustable in at least one posture degree of freedom, and have at least one identical adjustable posture degree of freedom. When the first adjustment part and the second adjustment part are coupled, the first adjustment part and the second adjustment part are adjusted in conjunction with each other in the same adjustable posture degree of freedom to ensure that the two always remain essentially parallel through essentially consistent posture changes in the same adjustable posture degree of freedom.

[0008] Optionally, when the coupling portion is connected to the first adjusting portion and the second adjusting portion, the coupling portion is movably connected to the first adjusting portion and the second adjusting portion to match the linkage adjustment between the first adjusting portion and the second adjusting portion.

[0009] Optionally, when the first adjustment part and the second adjustment part are uncoupled, the coupling part is separated from at least one of the first adjustment part and the second adjustment part, a first connecting part is provided at a detachable end of the coupling part, and a second connecting part adapted to the first connecting part is provided at a detachable end of the first adjustment part and / or the second adjustment part, and the first connecting part and the second connecting part are detachably connected.

[0010] Optionally, a magnetic attraction part is respectively provided in the first connecting part and the second connecting part, and the posture adjustment mechanism includes a control part, one of the two magnetic attraction parts is an electromagnet that can generate or eliminate magnetic force by turning the power on and off, and the other is a permanent magnet or a component made of magnetic attraction material, and the control part is coupled to the electromagnet. When the control part controls the electromagnet to be energized, the two magnetic attraction parts are magnetically attracted and connected, or when the control part controls the electromagnet to be deenergized, the two magnetic attraction parts are separated.

[0011] Optionally, the posture adjustment mechanism also includes a control unit and a conveying unit coupled to the control unit, and the conveying unit can detachably transport the coupling unit to the first adjustment unit and the second adjustment unit under the control of the control unit and detachably install the coupling unit to the first adjustment unit and the second adjustment unit.

[0012] Optionally, the control unit is coupled to the first adjustment unit and the second adjustment unit respectively, the first adjustment unit and the second adjustment unit are electrically adjustable, and the first adjustment unit and the second adjustment unit are adjusted to a registration posture under the control of the control unit to be detachably connected to the coupling unit.

[0013] Optionally, the first adjustment unit has a first target posture associated with the alignment posture, and the second adjustment unit has a second target posture associated with the alignment posture. The control unit is configured to adjust the first adjustment unit to rotate from its current posture to the first target posture according to the posture deviation between the first target posture and the current posture of the first adjustment unit, and to adjust the second adjustment unit to rotate from its current posture to the second target posture according to the posture deviation between the second target posture and the current posture of the second adjustment unit, so as to adjust the first adjustment unit and the second adjustment unit to the alignment posture.

[0014] Optionally, the conveying part reciprocates between at least two positions in a linear reciprocating motion or a rotational reciprocating motion, one position being associated with the position where the coupling part needs to reach in the alignment state for installation with the first adjusting part and the second adjusting part, and the other position being associated with the position where the coupling part is placed after being separated from the first adjusting part and the second adjusting part.

[0015] Optionally, the conveying portion includes a motor and a cam mechanism, the cam mechanism includes a cam and a follower coupled to the cam, the cam is connected to the motor via a transmission assembly, and the follower is used to convey the coupling portion.

[0016] Optionally, the cam is a disc cam, the follower abuts the cam surface, and intermittently reciprocates between at least two positions through the periodic rotation of the cam; or, the cam is a moving cam, the follower abuts the cam surface, and the follower reciprocates between at least two positions along the curve of the cam surface.

[0017] Optionally, the first adjustment part includes a first support part and a first rotating part arranged at the first end of the first support part, and the second adjustment part includes a second support part and a second rotating part arranged at the first end of the second support part, and the first rotating part and the second rotating part provide at least one identical adjustable posture degree of freedom.

[0018] Optionally, a third rotating portion is provided at the second end of the first supporting portion, and a fourth rotating portion is provided at the second end of the second supporting portion, and the third rotating portion and the fourth rotating portion provide at least one identical adjustable posture degree of freedom, and are the same as at least one of the identical adjustable posture degrees of freedom provided by the first rotating portion and the second rotating portion, and the coupling portion is detachably connected to the third rotating portion and / or the fourth rotating portion.

[0019] Optionally, the coupling portion includes a connecting rod, a third rotating portion is provided at the first end of the connecting rod, and a fourth rotating portion is provided at the second end, the third rotating portion and the fourth rotating portion provide at least one identical adjustable posture degree of freedom, and are the same as at least one of the identical adjustable posture degrees of freedom provided by the first rotating portion and the second rotating portion, and the third rotating portion and the fourth rotating portion are detachably connected to the first support portion and / or the second support portion.

[0020] Optionally, at least one of the first rotating part, the second rotating part, the third rotating part and the fourth rotating part is a hinge structure with adjustable posture freedom; or, at least one of the first rotating part, the second rotating part, the third rotating part and the fourth rotating part is a ball joint structure with adjustable three posture freedoms; or, at least one of the first rotating part, the second rotating part, the third rotating part and the fourth rotating part is a robotic arm with adjustable multiple posture freedoms, the robotic arm includes a base, a first link, a second link and a third link, the first link and the base are rotationally connected by a first joint so as to be adjustable in a first posture freedom, the second link and the first link are rotationally connected by a second joint so as to be adjustable in a second posture freedom, and the third link and the second link are rotationally connected by a third joint so as to be adjustable in a third posture freedom.

[0021] Optionally, the first joint, the second joint and the third joint are all driven joints; or at least one of the first joint, the second joint and the third joint is an active joint.

[0022] Optionally, when the first adjustment portion and the second adjustment portion are coupled via the coupling portion, a parallelogram four-bar linkage structure is formed.

[0023] On the other hand, the present invention also provides a main operating console, comprising a posture adjustment mechanism as described in any of the above embodiments, and further comprising: a display unit, having an imaging unit for final imaging; and an operating unit, having a reference unit and an input unit that can move relative to the reference unit to generate an operating instruction for controlling the movement of the end device; when the first adjustment unit and the second adjustment unit are coupled through the coupling unit in the posture adjustment mechanism, the imaging unit and the reference unit are respectively coupled to the first adjustment unit and the second adjustment unit in a basically parallel manner, and when the first adjustment unit and the second adjustment unit are disconnected, the imaging unit and the reference unit can adjust their postures separately with the help of independent adjustment of the first adjustment unit and the second adjustment unit, or, when the first adjustment unit and the second adjustment unit are coupled, the imaging unit and the reference unit can be adjusted in linkage with the help of the first adjustment unit and the second adjustment unit to ensure that the two always remain basically parallel through basically consistent posture changes.

[0024] Optionally, the display portion includes a display, and the imaging portion is a physical display surface of the display; or, the display portion includes a display and a mirror component, and the imaging portion is a virtual display surface formed by the mirror component.

[0025] Optionally, the mirror assembly includes a plane mirror, an angle is formed between the display and the plane mirror, the imaging part is a virtual display surface, and the plane mirror is located between the display and the imaging part, so that when the first adjustment part and the second adjustment part are coupled, the input part can overlap with the imaging part for intuitive control; or, the mirror assembly includes a convex lens, the convex lens is arranged parallel to the display, the imaging part is a virtual display surface, and the display is located between the convex lens and the imaging part, so that when the first adjustment part and the second adjustment part are coupled, the input part can overlap with the imaging part for intuitive control.

[0026] On the other hand, the present invention also provides a surgical robot comprising a main operating table as described in any of the above embodiments.

[0027] On the other hand, the present invention also provides a ball pair structure, including: a slot body; and a ball, wherein the ball is movably accommodated in the slot body; the slot body and the ball are separated from each other and unlocked when powered on, and are attracted to each other and locked when powered off; or, the slot body and the ball are attracted to each other and locked when powered on, and are separated from each other and unlocked when powered off.

[0028] Optionally, the ball pair structure includes a brake member, which has a dynamic friction plate and a static friction plate that are separated from each other in the power-on state and attracted to each other in the power-off state. One of the dynamic friction plate and the static friction plate is arranged in the groove body and the other is arranged in the sphere. In the power-on state, the groove body and the sphere are unlocked by the mutual separation between the dynamic friction plate and the static friction plate. In the power-off state, the groove body and the sphere are locked by the mutual attraction between the dynamic friction plate and the static friction plate.

[0029] Optionally, one of the trough body and the sphere is a component that can generate magnetic force when energized, and the other is a component that can be attracted by magnetic force, wherein the component that can generate magnetic force when energized means that the component itself can generate magnetic force when energized, or that the component is provided with a film layer that can generate magnetic force when energized.

[0030] Optionally, the component that can generate magnetic force when energized is the slot body, and the component that can be attracted by the magnetic force is the sphere.

[0031] On the other hand, the present invention also provides an adjustment part, including: a support part for supporting an attachment; and a ball-pair structure as described in any one of the above embodiments; one of the groove body and the ball body in the ball-pair structure serves as a fixed part, and the other serves as a movable part, and the support part is relatively fixedly connected to the movable part, so that the movable part can be adjusted to any posture relative to the fixed part, thereby realizing the adjustment of the posture of the attachment.

[0032] On the other hand, the present invention also provides a posture adjustment mechanism, comprising: two adjustment parts as described in any one of the above embodiments, namely a first adjustment part and a second adjustment part; and a control part, coupled to the ball joint mechanism in the first adjustment part and the second adjustment part; under the power on and off control of the ball joint mechanism in the first adjustment part and / or the second adjustment part by the control part, the posture of the first adjustment part and / or the second adjustment part can be adjusted.

[0033] Optionally, the posture adjustment mechanism also includes a coupling part, and the first adjustment part and the second adjustment part are detachably coupled through a detachable connection with the coupling part. When the first adjustment part and the second adjustment part are disconnected, the first adjustment part and the second adjustment part can adjust the posture respectively, or, when the first adjustment part and the second adjustment part are coupled, the first adjustment part and the second adjustment part can be adjusted in conjunction to ensure that the two always remain basically parallel through basically consistent posture changes.

[0034] Optionally, when the first adjustment portion and the second adjustment portion are coupled, the first adjustment portion and the second adjustment portion are adjusted in conjunction with each other in the same posture degree of freedom to ensure that the two always remain substantially parallel through substantially consistent posture changes in the same posture degree of freedom.

[0035] Optionally, when the coupling portion is connected to the first adjusting portion and the second adjusting portion, the coupling portion is movably connected to the first adjusting portion and the second adjusting portion to match the linkage adjustment between the first adjusting portion and the second adjusting portion.

[0036] Optionally, when the first adjustment part and the second adjustment part are uncoupled, the coupling part is separated from at least one of the first adjustment part and the second adjustment part, a first connecting part is provided at a detachable end of the coupling part, and a second connecting part adapted to the first connecting part is provided at a detachable end of the first adjustment part and / or the second adjustment part, and the first connecting part and the second connecting part are detachably connected.

[0037] Optionally, a magnetic attraction part is respectively provided in the first connecting part and the second connecting part, and the posture adjustment mechanism includes a control part, one of the two magnetic attraction parts is an electromagnet that can generate or eliminate magnetic force by turning the power on and off, and the other is a permanent magnet or a component made of magnetic attraction material, and the control part is coupled to the electromagnet. When the control part controls the electromagnet to be energized, the two magnetic attraction parts are magnetically attracted and connected, or when the control part controls the electromagnet to be deenergized, the two magnetic attraction parts are separated.

[0038] The surgical robot, main operating table, posture adjustment mechanism and its adjustment part, and ball pair structure of the present invention have the following beneficial effects:

[0039] The coupling part is detachably connected to the first adjusting part and the second adjusting part to achieve a disconnectable coupling between the first adjusting part and the second adjusting part. When the coupling of the first adjusting part and the second adjusting part is disconnected, the postures of the imaging part carried on the first adjusting part and the reference part carried on the second adjusting part can be adjusted independently to meet different operation requirements of different doctors. When the first adjusting part and the second adjusting part are coupled, the postures of the imaging part carried on the first adjusting part and the reference part carried on the second adjusting part can be adjusted in conjunction and basically always kept parallel. This is beneficial for the doctor to perform surgical operations with the help of the input part, so that the input part can be intuitively controlled based on the imaging part. The operation is simple and intuitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic structural diagram of an embodiment of a surgical robot according to the present invention;

[0041] Figure 2 for Figure 1 A partial schematic diagram of an embodiment of a surgical robot is shown;

[0042] Figure 3 This is a flow chart of an embodiment of a control method for a surgical robot;

[0043] Figure 4 This is a schematic diagram of the structure of the operating arm and power unit of the surgical robot;

[0044] Figure 5 This is a structural diagram of an embodiment of the main operating table of the present invention;

[0045] Figure 6 This is a structural diagram of another embodiment of the main operating console of the present invention;

[0046] Figure 7 This is a structural diagram of an embodiment of the main operating table of the present invention;

[0047] Figure 8 This is a structural diagram of another embodiment of the main operating console of the present invention;

[0048] Figure 9 for Figure 5 A schematic diagram of the structure of the posture adjustment mechanism in the main operating console when it is coupled;

[0049] Figure 10 for Figure 9 The structural diagram of an embodiment of the posture adjustment mechanism shown is in a non-coupled state;

[0050] Figure 11 for Figure 9 A schematic structural diagram of another embodiment of the posture adjustment mechanism when the posture adjustment mechanism is in a non-coupled state;

[0051] Figure 12 For Figure 9 A schematic structural diagram of the posture adjustment mechanism when the first adjustment part and the second adjustment part are adjusted separately when not coupled;

[0052] Figure 13 For Figure 9 A schematic structural diagram of the posture adjustment mechanism when the first adjustment part and the second adjustment part are adjusted in linkage when coupled;

[0053] Figures 14-17 They are Figure 5 A schematic structural diagram of another embodiment of the posture adjustment mechanism when the posture adjustment mechanism is in a non-coupled state;

[0054] Figures 18-21 They are schematic diagrams of a process of installing the coupling part on the first adjustment part and the second adjustment part by using the conveying part in the posture adjustment mechanism;

[0055] Figure 22 It is a structural schematic diagram of an embodiment of the conveying part of the posture adjustment mechanism;

[0056] Figure 23 It is a structural schematic diagram of another embodiment of the conveying part in the posture adjustment mechanism;

[0057] Figure 24 It is a structural schematic diagram of an embodiment of a rotating part in a posture adjustment mechanism;

[0058] Figure 25 It is a structural schematic diagram of another embodiment of the rotating part in the posture adjustment mechanism;

[0059] Figure 26 To adopt Figure 25 A schematic structural diagram of an embodiment of the posture adjustment mechanism formed by the rotating portion shown is coupled;

[0060] Figure 27 To adopt Figure 25 The diagram shows a schematic structural diagram of an embodiment of a posture adjustment mechanism formed by the rotating parts when the mechanism is not coupled. DETAILED DESCRIPTION

[0061] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0062] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an element centered. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an element centered at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be an element centered at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used in the present invention are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. The terms "first / second" and the like used in the present invention represent a component and two or more components of a type having common characteristics.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. The term "each" as used herein includes one or more than one.

[0064] like Figures 1 to 2 As shown in FIG, they are respectively a structural schematic diagram of an embodiment of a surgical robot of the present invention and a partial schematic diagram thereof.

[0065] The surgical robot includes a master console 2 and a slave operating device 3 controlled by the master console 2. The master console 2 has an operating unit 21 and a display unit 22. The surgeon operates the operating unit 21 to send control commands to the slave operating device 3, causing the slave operating device 3 to perform corresponding operations according to the surgeon's control commands from the operating unit 21 and observe the surgical area through the display unit 22. The slave operating device 3 includes a driving arm, which includes a robotic arm 30 and one or more manipulator arms 31 detachably mounted at the distal end of the robotic arm 30. The robotic arm 30 includes a base and a connecting assembly, each of which has multiple joint assemblies. The manipulator arm 31 includes a connecting rod 32, a connecting assembly 33, and an end-use instrument 34, each of which has multiple joint assemblies. The end-use instrument 34 is adjusted by adjusting the joint assemblies of the manipulator arm 31. The end-use instrument 34 includes an imaging end-use instrument 34A and an operating end-use instrument 34B. The imaging end-use instrument 34A is used to capture images within the field of view, and the display unit 22 is used to display these images. The operating end instrument 34B is used to perform surgical operations such as cutting and suturing. In this paper, the operating arm with the image end instrument 34A is referred to as the camera arm 31A, and the operating arm with the operating end instrument 34B is referred to as the surgical arm 31B.

[0066] Figure 1 The surgical robot on display is a single-port surgical robot, in which each operating arm 31 is inserted into the patient's body through the same puncture device 4 installed at the distal end of the robotic arm 30. In a single-port surgical robot, the doctor generally only controls the operating arm 31 to complete basic surgical operations. At this time, the operating arm 31 of the single-port surgical robot should have both positional freedom (i.e., positioning freedom) and posture freedom (i.e., orientation freedom) to achieve changes in posture within a certain range. For example, the operating arm 31 has horizontal movement freedom x, vertical movement freedom y, rotation freedom α, pitch freedom β, and yaw freedom γ. The operating arm 31 can also achieve forward and backward movement freedom z (i.e., feed freedom) under the drive of the distal joint assembly of the robotic arm 30, i.e., the power mechanism 301. In addition, in some embodiments, redundant degrees of freedom can be set for the operating arm 31 to achieve the possibility of more functions. For example, under the premise that the above six degrees of freedom can be achieved, one, two, or even more degrees of freedom can be additionally set. For example, the power mechanism 301 has a guide rail and a power unit slidingly arranged on the guide rail, and the operating arm 31 is detachably mounted on the power unit. On the one hand, the sliding of the power unit on the guide rail provides the operating arm 31 with a degree of freedom z for forward and backward movement. On the other hand, the power unit provides power to the joint assembly of the operating arm 31 to realize the remaining five degrees of freedom (i.e., [x, y, α, β, γ]).

[0067] The surgical robot also includes a controller. This controller can be integrated into the master console 2 or the slave operating device 3. Of course, the controller can also be independent of the master console 2 and the slave operating device 3. For example, the controller can be deployed locally or in the cloud. The controller can be composed of more than one processor.

[0068] The surgical robot also includes an input unit. This input unit can be integrated into the main console 2 or the slave operating device 3. Of course, the input unit can also be independent of the main console 2 and the slave operating device 3. This input unit can be, for example, a mouse, keyboard, voice input device, or touch screen. In one embodiment, a touch screen is used as the input unit, and the touch screen can be installed, for example, on the armrest of the main console 2.

[0069] The operating arm 31 also includes sensors for sensing joint variables of the joint assembly. These sensors include angle sensors for sensing rotational motion of the joint assembly and displacement sensors for sensing linear motion of the joint assembly. Specifically, appropriate sensors can be configured according to the type of joint assembly.

[0070] The controller is coupled to the sensors, and is coupled to the operation unit 21 and the display unit 22 .

[0071] For example, Figure 3 As shown, the abutment surface of the driving box 310 of the manipulator arm 31 abutting the power unit 302 of the power mechanism 301 is equipped with a storage unit 311. Correspondingly, the abutment surface of the power unit 302 abutting the driving box 310 is equipped with a reading unit 303 that is compatible with the storage unit 311. The reading unit 303 is coupled to the controller. When the manipulator arm 31 is installed on the power unit 302, the reading unit 303 communicates with the storage unit 311 and reads relevant information from the storage unit 311. The storage unit 311 is, for example, a memory or an electronic tag. The storage unit stores, for example, the type of manipulator arm, the target location of the manipulator arm that can be configured, the kinematic model of the manipulator arm, etc. For example, the storage unit 311 of the camera arm 31A also stores camera parameters.

[0072] like Figure 4 As shown, it is a schematic structural diagram of an embodiment of the surgical robot of the present invention. More specifically, Figure 4 Shown is a schematic structural diagram of an embodiment of a multi-hole surgical robot. Figure 4 The multi-port surgical robot shown is Figure 1 The difference between the single-port surgical robots shown mainly lies in the difference between their slave operating devices. Figure 4The driving arm of the slave operating device in the multi-hole surgical robot shown has a robotic arm 110, an adjustment arm 120, a manipulator 130, and an operating arm 150 connected in sequence. The number of adjustment arms 120, manipulators 130, and operating arms 150 is the same and there are two or more of them, for example, four. The distal end of the robotic arm 110 has an orientation platform, the proximal end of the adjustment arm 120 is connected to the orientation platform, and the proximal end of the manipulator 130 is connected to the distal end of the adjustment arm 120. The manipulator 130 is used to detachably connect to the operating arm 150, and the manipulator 130 has multiple joint assemblies. Each manipulator 130 has a power mechanism, and the operating arm 150 is mounted on the power mechanism and further driven by the power mechanism. In a multi-port surgical robot, different operating arms 150 are inserted into the patient's body through different puncture devices. The operating arms 150 of the multi-port surgical robot generally have fewer degrees of freedom compared to the operating arms 31 of the single-port surgical robot. Usually, the operating arm 150 only has posture freedom (i.e., orientation freedom). Of course, changes in its posture generally also affect the position, but because the impact is small, it can be ignored in certain scenarios. The change in the position of the operating arm 150 can usually be achieved with the assistance of the manipulator 130. Since the manipulator 130 and the operating arm 150 are linked to achieve posture changes, the two can be considered as manipulator components, which are equivalent to the operating arm 31 in the single-port surgical robot.

[0073] Depending on the configuration, the operating unit 21 can input posture commands, including position commands and posture commands, to control the posture changes of the distal end of the first portion of the actuator arm. The distal end of the first portion typically refers to the end instrument. Alternatively, the distal end of the first portion may refer to a joint assembly connected to the end instrument. Changes in the posture of the end instrument typically coincide with changes in the posture of the joint assembly.

[0074] exist Figure 1 In the surgical robot shown, the driving arm includes a robotic arm and a manipulator arm. The proximal end of the manipulator arm is mounted on the distal end of the robotic arm, and the end instrument is mounted on the distal end of the manipulator arm. Depending on the configuration, the first part can be configured as the manipulator arm; alternatively, the first part can be configured as a combination of the robotic arm and the manipulator arm.

[0075] And correspondingly Figure 4 In the surgical robot shown, the driving arm includes a robotic arm, an adjustment arm, a manipulator, and an operating arm. The proximal end of the adjustment arm is mounted to the distal end of the robotic arm, the proximal end of the manipulator is mounted to the distal end of the adjustment arm, the proximal end of the operating arm is mounted to the distal end of the manipulator, and the end instrument is mounted to the distal end of the operating arm. Depending on the configuration, the first part can be configured as the operating arm; or the first part can be configured as a combination of the manipulator and the operating arm; or the first part can be configured as a combination of the robotic arm, adjustment arm, manipulator, and operating arm.

[0076] Understandable, whether Figure 1 The single-port surgical robot shown is still Figure 4 In the multi-aperture surgical robot shown, the robotic arm is typically used to adjust the position of the end instrument over a wide range, while the manipulator arm is used to fine-tune the position of the end instrument. For example, the robotic arm is used to position the end instrument before surgery, and the manipulator arm is used to control the surgery during surgery. Of course, in some embodiments, the robotic arm and the manipulator arm can also be combined with corresponding arm structures to coordinate movement to achieve specific functions. Depending on the configuration, one or more of the end instruments can be configured as a controlled end instrument to be controlled by the manipulator.

[0077] In some embodiments, the display unit 22 has an imaging unit 220 for final imaging. It should be noted that the imaging unit 220 may be a physical component, such as Figure 5 and Figure 6 The imaging unit 220 may also be a virtual component, such as Figure 7 and Figure 8 As shown. The imaging unit 220 refers to the physical or virtual component where the image ultimately provided to a person for viewing is located. The operating unit 21 includes a reference portion 210 and an input portion 212 that can move relative to the reference portion 210 to generate operating instructions. The main operating console 2 also includes a posture adjustment mechanism 6, which is used to couple the imaging unit 220 and the reference portion 210 so that the posture of the imaging unit 220 and / or the reference portion 210 can be adjusted using the posture adjustment mechanism 6 to meet the different usage requirements of different doctors.

[0078] like Figures 9 to 11 As shown, the posture adjustment mechanism 6 includes a first adjustment part 61, a second adjustment part 62 and a coupling part 63. The postures of the first adjustment part 61 and the second adjustment part 62 can be adjusted, and the first adjustment part 61 and the second adjustment part 62 realize a disconnectable coupling relationship through a detachable connection with the coupling part 63. Among them, when the coupling part 63 is connected to both the first adjustment part 61 and the second adjustment part 62, the first adjustment part 61 and the second adjustment part 62 are in a coupled relationship. When the coupling part 63 is separated from any one of the first adjustment part 61 and the second adjustment part 62 or both are separated, the first adjustment part 61 and the second adjustment part 62 are in a disconnected coupling relationship. Among them, when the first adjustment part 61 and the second adjustment part 62 are disconnected, the postures of any one of the first adjustment part 61 and the second adjustment part 62 or both are adjusted independently, that is, the two can be adjusted independently, such as Figure 12 As shown, the angle of the first adjustment portion 61 is Figure 9 The θ adjustment shown is θ1, and the angle of the first adjustment portion 61 is adjusted from Figure 9The θ adjustment shown is θ2; when the first adjustment portion 61 and the second adjustment portion 62 are coupled, the adjustment of the posture of any one of the first adjustment portion 61 and the second adjustment portion 62 is associated with the change of the posture of the other, that is, the first adjustment portion 61 and the second adjustment portion 62 are adjusted in linkage, and the linkage adjustment between the first adjustment portion 61 and the second adjustment portion 62 is used to ensure that the two always remain substantially parallel through the substantially consistent posture changes of the two, such as Figure 13 shown.

[0079] For ease of understanding, "substantially parallel" or "maintaining substantially parallel" as used herein means that the attitude deviation between the first adjustment portion 61 and the second adjustment portion 62 in one or more specific degrees of freedom, such as the pitch degree of freedom, is less than a preset value, which may be defined as [-5°, 5°]. When the attitude deviation is 0°, the first adjustment portion 61 and the second adjustment portion 62 are considered to be absolutely parallel. However, this document allows for a certain attitude deviation (non-0°), i.e., substantially parallel conditions.

[0080] The imaging portion 220 and the reference portion 210 being parallel referred to herein may refer to the imaging plane defined on the imaging portion 220 and the reference plane defined on the reference portion 210 being parallel in physical space; it may also refer to the first coordinate system A defined on the imaging portion 220 and the second coordinate system B defined on the reference portion 210 being parallel. When the first coordinate system A and the second coordinate system B are parallel, the x-axis, y-axis, and z-axis of the first coordinate system A are parallel to the x-axis, y-axis, and z-axis of the second coordinate system B, respectively.

[0081] There are many ways to adjust the first adjustment portion 61 and the second adjustment portion 62. For example, the posture of the first adjustment portion 61 and the second adjustment portion 62 can be adjusted manually; for another example, the posture of the first adjustment portion 61 and the second adjustment portion 62 can be adjusted electrically; for another example, the posture of one of the first adjustment portion 61 and the second adjustment portion 62 can be adjusted manually and the posture of the other can be adjusted electrically; for another example, when the posture of at least one of the first adjustment portion 61 and the second adjustment portion 62 can be adjusted electrically, it can also be adjusted manually.

[0082] To facilitate the description of the installation state of the imaging unit 220 and the reference unit 210, this article describes the installation state of the imaging unit 220 and the reference unit 210 in the state where the first adjustment unit 61 and the second adjustment unit 62 are coupled, that is, the first adjustment unit 61 and the second adjustment unit 62 are substantially parallel. Figures 5 to 8As shown, the imaging portion 220 and the reference portion 210 are coupled substantially parallel to the first adjustment portion 61 and the second adjustment portion 62. For example, the imaging portion 220 is coupled to the first adjustment portion 61, and the reference portion 210 is coupled substantially parallel to the second adjustment portion 62. When the first adjustment portion 61 and the second adjustment portion 62 are coupled, the imaging portion 220 and the reference portion 210 are relatively fixed in their mounting position. Therefore, regardless of how the first adjustment portion 61 and / or the second adjustment portion 62 are adjusted, the imaging portion 220 and the reference portion 210 can always remain substantially parallel, thereby facilitating intuitive control of the input portion 212 based on the operation image generated by the imaging portion 220. In this context, "intuitive control" means that the direction of movement of the input unit 212 is completely consistent with the direction of movement of the end-use instrument controlled by the input unit 212 in the operation image formed by the imaging unit 220. Furthermore, the direction of movement of the input unit 212 is completely consistent with the direction of movement of the operation image formed by the imaging unit 220 (i.e., the direction of field of view change). Therefore, when a surgeon uses the input unit 212 to control an end-use instrument during surgery, the direction of movement of the input unit 212 is consistent with the direction of movement of the end-use instrument in the operation image, or the direction of movement of the operation image itself, as seen through the imaging unit 220, thereby providing a sense of hand-eye coordination.

[0083] In some embodiments, the first adjustment portion 61 and the second adjustment portion 62 are both adjustable in at least one attitude degree of freedom, and have at least one identically adjustable attitude degree of freedom. For example, if the first adjustment portion 61 is adjustable in pitch, rotation, and yaw, the second adjustment portion 62 may be adjustable in one or more of the pitch, rotation, and yaw degrees of freedom. When the first adjustment portion 61 and the second adjustment portion 62 are coupled, they are adjusted in conjunction with each identically adjustable attitude degree of freedom to ensure that they remain substantially parallel at all times through substantially identical attitude changes in each identically adjustable attitude degree of freedom.

[0084] Typically, when the coupling portion 63 is connected to the first adjustment portion 61 and the second adjustment portion 62 , the coupling portion 63 and the first adjustment portion 61 and the second adjustment portion 62 are movably connected to match the linkage adjustment between the first adjustment portion 61 and the second adjustment portion 62 .

[0085] In some embodiments, when the first adjustment portion 61 and the second adjustment portion 62 are disconnected, the coupling portion 63 is separated from one of the first adjustment portion 61 and the second adjustment portion 62, such as Figure 10 、 Figure 14 、 Figure 15 and Figure 16As shown. That is, the coupling portion 63 is relatively fixedly connected to one of the first adjustment portion 61 and the second adjustment portion 62, and detachably connected to the other. "Relatively fixed" is merely another concept relative to "detachable" and does not limit the concept of a movable connection between the coupling portion 63 and the first adjustment portion 61 and the second adjustment portion 62.

[0086] Among them, Figure 16 As shown, a first connecting portion 601 is provided at a detachable end of the coupling portion 63, and a second connecting portion 602 adapted to the first connecting portion 601 is provided at a corresponding position of a detachable one of the first adjustment portion 61 and the second adjustment portion 62, and the first connecting portion 601 and the second connecting portion 602 are detachably connected.

[0087] In some embodiments, when the first adjustment portion 61 and the second adjustment portion 62 are disconnected, the coupling portion 63 is separated from the first adjustment portion 61 and the second adjustment portion 62. Figure 11 、 Figure 17 shown.

[0088] The coupling portion 63 is detachably connected to both ends thereof with a first connecting portion 601, and the first adjusting portion 61 and the second adjusting portion 62 are both provided with a second connecting portion 602 adapted to the first connecting portion 601 at corresponding positions. The first connecting portion 601 and the second connecting portion 602 are detachably connected to each other. Figure 16 See.

[0089] In the above embodiment, whether the coupling portion 63 is separated from one or both of the first adjustment portion 61 and the second adjustment portion 62 , the first connection portion 601 can be snap-connected or adsorbed to the second connection portion 602 .

[0090] The adsorption connection includes magnetic adsorption, adhesive adsorption, or vacuum adsorption. In one embodiment, the first connecting portion 601 and the second connecting portion 602 are each provided with a magnetic attraction portion, and the magnetic adsorption connection is achieved through the two magnetic attraction portions. For example, both magnetic attraction portions may be permanent magnets, or one may be a permanent magnet and the other may be made of a magnetic material. These magnetic materials include, but are not limited to, iron, iron-nickel alloy, and other materials.

[0091] The first connection portion 601 and the second connection portion 602 may be separated or connected manually or automatically.

[0092] In order to facilitate the separation or connection of the coupling part 63 with the first adjustment part 61 and the second adjustment part 62, one of the two magnetic attraction parts can be configured as an electromagnet and the other can be configured as a permanent magnet or a component made of magnetic attraction material. The posture adjustment mechanism 6 of the present invention can also include a control part, which is coupled to the electromagnet. When the control part controls the electromagnet to be energized, the electromagnet generates a magnetic force to magnetically adsorb and connect the two magnetic attraction parts; when the control part controls the electromagnet to be de-energized, the electromagnet eliminates the magnetic force to separate the two magnetic attraction parts. By triggering the power-on instruction to energize the electromagnet, the first adjustment part 61 and the second adjustment part 62 can be coupled, so as to facilitate the subsequent linkage adjustment of the posture of the imaging part 220 or the reference part 210; by triggering the power-off instruction to de-energize the electromagnet, the first adjustment part 61 and the second adjustment part 62 can be decoupled, so as to facilitate the subsequent independent adjustment of the posture of the imaging part 220 or the reference part 210. When the first adjustment portion 61 and the second adjustment portion 62 are coupled, the control portion may further cause the electromagnet to generate an adaptive, variable (including increasing or decreasing) magnetic force based on the change in torque caused by the change in the posture of the first adjustment portion 61 and the second adjustment portion 62, so as to prevent the first connection portion 601 from being separated from the corresponding second connection portion 602. Of course, the electromagnet may also be caused to generate a sufficiently large, constant magnetic force to prevent the first connection portion 601 from being separated from the corresponding second connection portion 602.

[0093] In order to facilitate the separation or connection of the coupling portion 63 with the first adjusting portion 61 and the second adjusting portion 62, the Figures 18 to 21The posture adjustment mechanism 6 may further include a conveying unit 7, with an input unit 212 coupled to the control unit. Under the control of the control unit, the conveying unit 7 can detachably transport the coupling unit 63 to the first adjustment unit 61 and the second adjustment unit 62 and detachably attach the coupling unit 63 to the first adjustment unit 61 and the second adjustment unit 62. In this embodiment, the various types of first connecting units 601 and second connecting units 602 described above can also be utilized. Furthermore, in this embodiment, the first adjustment unit 61 and the second adjustment unit 62 are adjusted to a registration posture to facilitate alignment with the coupling unit 63 delivered by the conveying unit 7, thereby enabling a detachable connection. In one embodiment, to facilitate automatic adjustment of the first adjustment unit 61 and the second adjustment unit 62 to a registration state, the first rotating unit corresponding to the first adjustment unit 61 and the second rotating unit corresponding to the second adjustment unit 62, described below, can be configured as electrically adjustable (i.e., active) rotating units and coupled to the control unit. The third rotating unit and the fourth rotating unit, described below, can be configured as non-electrically adjustable (i.e., driven) rotating units. Of course, in other embodiments where the purpose of automatically adjusting the first adjustment portion 61 and the second adjustment portion 62 to the alignment state does not need to be considered, there is no restriction on whether the first to fourth rotating portions described below can be electrically adjusted. The alignment posture refers to the state of the first adjustment portion 61 and the second adjustment portion 62 when coupled in a certain specific posture. For example, it is the state when pitching 30° downward. Of course, it can also be a specific posture in any other one or more posture degrees of freedom. In connection with the alignment posture, the first adjustment portion 61 has a first target posture, and the second adjustment portion 62 has a second target posture. The first target posture and the second target posture can usually be preset.

[0094] Typically, the conveying portion 7 can reciprocate between at least two positions, and such reciprocating motion can be linear or rotational. One of the at least two positions is associated with the position where the coupling portion 63 needs to be positioned for installation with the first adjustment portion 61 and the second adjustment portion 62 in the registration state, and the other is associated with the position where the coupling portion 63 is positioned after being separated from the first adjustment portion 61 and the second adjustment portion 62.

[0095] For example, in the linear reciprocating motion, the conveying portion 7 can be implemented in various ways.

[0096] For example, the conveying portion 7 can be implemented by a linear motor, the mover of the linear motor is used to convey the coupling portion 63, and the at least two positions are located within the movement range of the mover.

[0097] For example, Figure 18 As shown, the conveying part 7 can be realized by combining a motor and a screw pair 7. The screw pair 7 includes a screw 71 and a slider 72. The screw 71 and the motor are connected through a transmission assembly. The slider 72 is used to convey the coupling part 63. The at least two positions are located within the movement range of the slider 72.

[0098] For example, Figure 22 and Figure 23 As shown, the conveying portion 7 can be realized by using a cam mechanism combined with a motor. The cam mechanism includes a cam and a follower coupled to the cam. The cam and the motor are connected through a transmission assembly. The follower is used to convey the coupling portion 63. The at least two positions are located within the movement range of the follower. Figure 22 As shown, the cam 74 may be a disc-shaped cam, and the follower 72 abuts against the surface of the cam 72, and intermittently reciprocates between at least two positions through the periodic rotation of the cam 74; wherein, as shown in FIG. Figure 23 As shown, the cam 74 can also be a moving cam, with the follower 72 abutting the surface of the cam 72. The follower 72 reciprocates between at least two positions following the curve of the cam 72. In both types of cam mechanisms, a roller 73 is mounted on the end of the follower abutting the cam surface to reduce friction. The follower 72 extends under the action of the cam 74 and retracts under the return force of a spring or the follower's own weight.

[0099] The control unit is coupled to the motor of the conveying unit 7 in each embodiment to realize the conveying of the coupling unit 63 by controlling the motor.

[0100] Of course, the conveying portion 7 may also be implemented by other structures that can perform reciprocating motion between at least two positions, and examples are not given here one by one.

[0101] In one embodiment, the first adjustment part 61 and the second adjustment part 62 are both electrically adjustable and are respectively coupled to the control part. The control part can also adjust the first adjustment part 61 to rotate from its current posture to the first target posture according to the posture deviation between the first target posture and the current posture of the first adjustment part 61, and adjust the second adjustment part 62 to rotate from its current posture to the second target posture according to the posture deviation between the second target posture and the current posture of the second adjustment part 62, so as to achieve the alignment posture. Then, the control part controls the conveying part 7 to convey the coupling part 63 and install the coupling part 63 to the first adjustment part 61 and the second adjustment part 62. Similarly, in this embodiment, the coupling part 63 has a first connecting part 601, and the first adjustment part 61 and the second adjustment part 62 have a second connecting part 602. The snap connection and / or adsorption connection described above can be used to achieve a detachable assembly between the three. The current posture of the first adjustment part 61 and the current posture of the second adjustment part 62 can be detected by corresponding posture sensors such as gyroscopes, motor encoders, etc., which are usually also coupled to the control part. Continue to refer to Figures 18 to 21 When the first adjustment portion 61 and the second adjustment portion 62 are not coupled, the first adjustment portion 61 and the second adjustment portion 62 are adjusted to a registration posture, wherein the first adjustment portion 61 is adjusted from Figure 18The θ1 shown is adjusted to Figure 19 θ shown, and the second adjustment portion 62 is moved from Figure 18 The θ2 shown is adjusted to Figure 19 The control slider 72 then extends toward the posture adjustment mechanism 6 to the first predetermined position, thereby attaching the coupling portion 63 to the first adjustment portion 61 and the second adjustment portion 62. After the installation is complete, the control slider 72 retracts to the second predetermined position. The slider 72 is provided with a gripping portion 720 that can be separated from the coupling portion. The gripping portion 720 can also be, for example, a snap-fit ​​connection, an adsorption connection, or an openable clamping claw.

[0102] In some embodiments, see Figure 9 The first adjustment portion 61 includes a first support portion 611 and a first rotating portion 612 disposed at a first end of the first support portion 611. The second adjustment portion 62 includes a second support portion 621 and a second rotating portion 622 disposed at a first end of the second support portion 621. The first rotating portion 612 and the second rotating portion 622 provide at least one identical adjustable degree of freedom. Both the first support portion 611 and the second support portion 621 are used to support attachments, such as, in the present invention, to directly or indirectly support at least some components of the display portion 22 and the operating portion 21.

[0103] In one embodiment, continue to refer to Figure 9 A third rotating portion 613 is provided at the second end of the first supporting portion 611, and a fourth rotating portion 623 is provided at the second end of the second supporting portion 621. The third rotating portion 613 and the fourth rotating portion 623 provide at least one identical adjustable posture degree of freedom, and are the same as at least one of the identical adjustable posture degrees of freedom provided by the first rotating portion 612 and the second rotating portion 622. The coupling portion 63 is detachably connected to the third rotating portion 613 and / or the fourth rotating portion 623.

[0104] Alternatively, the coupling portion 63 includes a connecting rod, the third rotating portion 613 can be arranged at the first end of the connecting rod, and the fourth rotating portion 623 can be arranged at the second end of the connecting rod, the third rotating portion 613 and the fourth rotating portion 623 provide at least one identical adjustable posture degree of freedom, and are the same as at least one of the identical adjustable posture degrees of freedom provided by the first rotating portion 612 and the second rotating portion 622, and the third rotating portion 613 and the fourth rotating portion 623 are detachably connected to the first support portion 611 and / or the second support portion 621.

[0105] In some embodiments, one or more of the first rotating part 612, the second rotating part 622, the third rotating part 613 and the fourth rotating part 623 is a structure with adjustable posture freedom, such as a hinge structure, which includes a first part that is fixedly arranged and a second part that is movably connected to the first part, and the second part is connected to a component in the posture adjustment mechanism 6.

[0106] In some embodiments, one or more of the first rotating portion 612, the second rotating portion 622, the third rotating portion 613, and the fourth rotating portion 623 is a structure with adjustable three degrees of freedom, such as a ball joint structure 40. Figure 16 and Figure 24 The ball-joint structure 40 comprises a fixed portion 41 and a movable portion 42 movably disposed relative to the fixed portion 41. The fixed portion 41 is a spherical groove or sphere, while the movable portion 42 is a corresponding sphere or spherical groove. The installation of the ball-joint structure 40 is illustrated using the first adjustment portion 61 as an example. The first support portion 611 is connected to the movable portion 42 so as to be rotatable relative to the fixed portion 41. The second adjustment portion 62 and the coupling portion 63 can be installed in a similar manner and will not be described in detail here. As a rotating portion, the ball-joint structure 40 is typically suitable for manual rotation, particularly rotation in any desired degree of freedom.

[0107] Furthermore, the ball-pair structure 40 may also include a brake member, and the control unit is coupled to the ball-pair structure 40 having the brake member, and more specifically, the control unit is coupled to the brake member. The brake member includes a static friction plate and a dynamic friction plate that are separated from each other in the power-on state and attracted to each other in the power-off state. One of the static friction plate and the dynamic friction plate is arranged on the fixed part 41, and the other is arranged on the movable part 42. For example, the static friction plate is arranged on the fixed part 41, and the dynamic friction plate is arranged on the movable part 42. For example, the static friction plate can be arranged on the surface of the fixed part 41 on the side that contacts the movable part, and the dynamic friction plate can be arranged on the surface of the movable part 42 on the side that contacts the fixed part. By designing the brake member that is separated when powered on and attracted when powered off, the movable part can be unlocked by power on to adjust the posture of the corresponding object, and the movable part can be locked by power off after the adjustment is completed. This structural design is applicable even to a magnetic navigation type operating part 21, because power is triggered to generate magnetic force only when the posture of the reference part 210 of this type of operating part 21 is adjusted. This adjustment process does not affect normal use because the input part 212 will not or is not allowed to be used to control the end device.

[0108] When any one or more of the first rotating portion 612, the second rotating portion 622, the third rotating portion 613, and the fourth rotating portion 623 employ a ball-joint structure 40 with a brake member, for example, when only the first rotating portion 612 and the second rotating portion 622 employ a ball-joint structure 40 with a brake member, regardless of whether the first adjusting portion 61 and the second adjusting portion 62 are coupled, if adjustment of the first adjusting portion 61 and / or the second adjusting portion 62 is desired, the control portion can simply energize the corresponding ball-joint structure 40 with a brake member. If adjustment of the first adjusting portion 61 and / or the second adjusting portion 62 is desired to be disabled, the control portion can simply deenergize the corresponding ball-joint structure 40 with a brake member. In particular, when the first adjusting portion 61 and the second adjusting portion 62 are coupled, if linkage between the first adjusting portion 61 and the second adjusting portion 62 is not desired, the control portion can simply deenergize any one or more ball-joint structures 40 with a brake member.

[0109] In one embodiment, the aforementioned brake components can be replaced. For example, one of the slot and the sphere in the ball-joint structure 40 can generate magnetic force when energized, and the other can be magnetically attracted. The control unit is coupled to the component that generates magnetic force when energized. A component that generates magnetic force when energized refers to a component that can generate magnetic force when energized, or a component that is provided with a film that can generate magnetic force when energized. A component that can be magnetically attracted refers to a component that can be magnetically attracted, or a component that is provided with a film that can generate magnetic force when energized. For example, when the fixed portion 41 is a slot and the movable portion 42 is a sphere, the slot can generate magnetic force when energized, and the sphere can be attracted by the magnetic force generated when energized. For example, the sphere can be made of iron, an iron-nickel alloy, or other materials. When the posture of the corresponding object needs to be adjusted, the control unit controls the deenergization to lock the movable portion. When the posture of the corresponding object does not need to be adjusted, the control unit controls the deenergization to unlock the movable portion.

[0110] Since the slot and the ball in the ball-pair structure can be unlocked or locked when power is on, and correspondingly locked or unlocked when power is off, it is easy to adjust the posture of the attachment supported on the support part connected to one of the slot and the ball, so as to meet the personalized needs of different doctors for different postures of the attachment. When the posture of the attachment needs to be adjusted, the posture of the attachment can be adjusted by controlling the ball-pair structure to be unlocked. When the posture of the attachment does not need to be adjusted, the posture of the attachment can be maintained by controlling the ball-pair structure to be locked. It is simple and easy to use.

[0111] In some embodiments, one or more of the first rotating portion 612, the second rotating portion 622, the third rotating portion 613, and the fourth rotating portion 623 is a structure with adjustable degrees of freedom in multiple postures, such as a robotic arm 50. Figures 25 to 27Referring to the figure, the robotic arm 50 includes a base 51, a first link 52, a second link 53, and a third link 54. The first link 52 is rotatably connected to the base 51 via a first joint so as to be adjustable in a first posture degree of freedom. The second link 53 is rotatably connected to the first link 52 via a second joint so as to be adjustable in a second posture degree of freedom. The third link 54 is rotatably connected to the second link 53 via a third joint so as to be adjustable in a third posture degree of freedom. For example, the first posture is rotation, the second posture is yaw, and the third posture is pitch. Of course, other combinations are also possible and will not be detailed here. For example, the first joint, the second joint, and the third joint are all driven joints. For another example, the first joint, the second joint, and the third joint are all driven joints, and one or more of them are active joints. Active joints are defined herein as joints that can be driven by a motor. The first support portion 611 may be disposed on the third link 54 of one robotic arm 50 or directly constituted by the third link 54 ; the second support portion 621 may be disposed on the third link 54 of another robotic arm 50 or directly constituted by the third link 54 .

[0112] Typically, the first adjusting portion 61 and the second adjusting portion 62 form a parallelogram four-bar structure when coupled via the coupling portion 63. The first adjusting portion 61 and the second adjusting portion 62 can be substantially parallel in one plane or multiple planes.

[0113] When the first adjustment portion 61 and the second adjustment portion 62 are coupled via the coupling portion 63 , the coupling between the input portion 212 and the end device can be operated continuously without interrupting the coupling, that is, the posture of the imaging portion 220 and / or the reference portion 210 can be adjusted while the end device is controlled via the input portion 212 .

[0114] When the first adjustment portion 61 and the second adjustment portion 62 are disconnected through the coupling portion 63, that is, when the posture of the imaging portion 220 and / or the reference portion 210 is independently adjusted, the coupling between the input portion 212 and the end instrument can be interrupted first. After the posture of the imaging portion 220 and / or the reference portion 210 is adjusted, and after the coordinate transformation relationship between the imaging portion 220 and the reference portion 210 is established, the input portion 212 and the end instrument can be recoupled to ensure the safety of the surgical operation.

[0115] In some embodiments, such as Figure 5 and Figure 6 As shown, the display unit 22 only includes a display 221. In this embodiment, the imaging unit 220 is the physical display surface of the display 221, that is, the imaging unit 220 is physically present. The display 221 is directly disposed on the first adjustment unit 61, that is, the imaging unit 220 is directly disposed on the first adjustment unit 61.

[0116] In some embodiments, combined Figure 7 and Figure 8 Referring to the display portion 22, it is noted that the display portion 22 includes not only a display 221 but also a mirror assembly 222. In this embodiment, the imaging portion 220 is not the display surface of the display 221, but rather a display surface formed by the mirror assembly 222. Generally, it can be considered that the display surface is not physically present but virtual, because the image formed by the mirror assembly 222 is generally not on the corresponding mirror surface. For example, whether it is a lens or a plane mirror, the effective visible image formed by them is generally not on the mirror body itself. By specifically configuring the physical display 221 and the mirror assembly 222, the imaging portion 220 can be coupled to the first adjustment portion 61 substantially parallel to the reference portion 210. By optimization, the imaging portion 220 can be located on one side of the reference portion 210 and further away from the first adjustment portion 61 relative to the reference portion 210.

[0117] For example, Figure 7 As shown, the mirror assembly 222 includes a plane mirror, and an angle is formed between the display 221 and the plane mirror. The imaging portion 220 is a virtual display surface of the display 221. The plane mirror is located between the display 221 and the imaging portion 220, so that the imaging portion 220 can be located on one side of the reference portion 210 and farther away from the first adjustment portion 61 relative to the reference portion 210, so that when the first adjustment portion 61 and the second adjustment portion 62 are coupled, the input portion 212 can overlap with the imaging portion 220 without being physically obstructed by the reference portion 210 and / or the second adjustment portion 62, thereby performing intuitive control, so that the doctor feels as if his hand is operating on the imaging portion 220 or on the image formed on the imaging portion 220.

[0118] For example, Figure 8As shown, the mirror assembly 222 includes a convex lens, which is arranged parallel to the display 221. The imaging unit 220 is the virtual display surface of the display 221. The display 221 can be located between the convex lens and the imaging unit 220, and the imaging unit 220 can also be located between the convex lens and the display 221. In one embodiment, when the display 221 is located between the convex lens and the imaging portion 220, the imaging portion 220 can be further arranged to be located on one side of the reference portion 210 and further away from the first adjustment portion 61 relative to the reference portion 210. For example, the object distance between the convex lens and the display 221 can be set to be less than 1 times the focal length of the convex lens, so that the imaging surface is located on the same side of the display 221 and further away from the convex lens relative to the display 221 and has a magnified image relative to the image displayed on the display 221. When the first adjustment portion 61 and the second adjustment portion 62 are coupled, the input portion 212 can overlap with the imaging portion 220 without being physically obstructed by the reference portion 210 and / or the second adjustment portion 62, thereby performing intuitive control, so that the doctor feels as if his hand is operating on the imaging portion 220 or the image formed on the imaging portion 220.

[0119] In some embodiments, the main operating console 2 further includes a bracket 23, on which the posture adjustment mechanism 6 is mounted. Furthermore, a receiving cavity 24 is provided on the bracket, and the posture adjustment mechanism 6 is accommodated in the receiving cavity 24. Furthermore, the reference portion 210 of the operating portion 21 coupled to the posture adjustment mechanism 6 and at least the physical portion of the display portion 22 are accommodated in the receiving cavity 24. It is understood that, as needed, if the imaging portion 220 of the final image of the display portion 22 is a virtual imaging portion 220 formed by a mirror assembly 222, the optical path design can enable the imaging portion 220 to be located outside the receiving cavity 24, thereby facilitating the overlap of the input portion 212 with the imaging portion 220 for intuitive control.

[0120] In one embodiment, continue to refer to Figure 6 The main operating console 2 also includes an observation unit 240, which can be generally disposed on the accommodating chamber 24. The observation unit 240 provides a window for observing the image formed by the imaging unit 220. The posture of the observation unit 240 is independently adjustable. The observation unit 240 can be adjusted manually or automatically. The observation unit 240 is provided with a posture sensor, such as a gyroscope, for sensing its posture. The control unit is coupled to the posture sensor and is configured to perform the following operations:

[0121] Step 1: Obtain the posture angle between the sight axis of the observation part and the imaging part 220.

[0122] The posture angle may be obtained based on the posture detected by the posture sensor provided in the observation unit 240 .

[0123] Step 2: Calculate the deviation between the posture angle and the preset posture angle.

[0124] The preset posture angle is 85° to 95°, for example, 90°.

[0125] Step three: determine whether the deviation reaches the deviation threshold.

[0126] Step 4: When the deviation reaches the deviation threshold, the posture of the observation part and / or the posture adjustment mechanism 6 is adjusted based on the deviation so that the posture angle between the sight axis of the observation part and the imaging part 220 is substantially the same as the preset posture angle.

[0127] Taking the coupling of the first adjustment part 61 and the second adjustment part 62 as an example, the control part can control the operation of any electrically adjustable rotating part in the attitude adjustment mechanism 6 based on the deviation to reduce or eliminate the deviation to improve the observation effect. In addition, since the imaging part 220 and the reference part 210 always remain basically parallel with the help of the attitude adjustment mechanism 6, more realistic and continuous intuitive control can be achieved.

[0128] The above-mentioned "electrically adjustable rotating part" refers to a rotating part that can be rotated by electric control to achieve posture adjustment. Such a rotating part can be implemented, for example, by adopting the structure and principle of the active joint of the robotic arm in an industrial robot, or by adopting a common motor-driven gear rotation structure. As long as the electric control rotation can be achieved, no further examples will be given here.

[0129] The above-mentioned "posture" can be the posture of a specified point or a specified surface of a physical or virtual component. This specified point or surface can be freely defined. Generally, the posture is the angle corresponding to the associated coordinate axis.

[0130] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A main operating table, characterized in that: include: A display unit having an imaging unit for final imaging; An operating portion having a reference portion and an input portion movable relative to the reference portion to generate an operating instruction for controlling the movement of the end instrument; a first regulating unit; Second adjustment unit; and coupling portion; The postures of the first adjustment part and the second adjustment part are both adjustable, and the postures of the first adjustment part and the second adjustment part can be adjusted manually and / or electrically. The first adjustment part and the second adjustment part are detachably coupled through a detachable connection with the coupling part. The imaging part and the reference part are respectively coupled to the first adjustment part and the second adjustment part in a basically parallel manner. When the first adjustment part and the second adjustment part are disconnected, the first adjustment part and the second adjustment part can adjust the postures respectively. The imaging part and the reference part can adjust the postures respectively with the help of independent adjustment of the first adjustment part and the second adjustment part, or, when the first adjustment part and the second adjustment part are coupled, the imaging part and the reference part can be adjusted with the help of the linkage adjustment of the first adjustment part and the second adjustment part to ensure that the two always remain basically parallel through basically consistent posture changes.

2. The main operating table according to claim 1, characterized in that: The first adjustment part and the second adjustment part are both adjustable in at least one posture degree of freedom, and have at least one identical adjustable posture degree of freedom. When the first adjustment part and the second adjustment part are coupled, the first adjustment part and the second adjustment part are adjusted in conjunction with each other in the same adjustable posture degree of freedom to ensure that the two always remain essentially parallel through essentially consistent posture changes in the same adjustable posture degree of freedom.

3. The main operating table according to claim 1, characterized in that: When the coupling portion is connected to the first adjusting portion and the second adjusting portion, the coupling portion is movably connected to the first adjusting portion and the second adjusting portion to match the linkage adjustment between the first adjusting portion and the second adjusting portion.

4. The main operating table according to claim 1, characterized in that: When the first adjusting part and the second adjusting part are uncoupled, the coupling part is separated from at least one of the first adjusting part and the second adjusting part, a first connecting part is provided at a detachable end of the coupling part, and a second connecting part adapted to the first connecting part is provided at a detachable end of the first adjusting part and / or the second adjusting part, and the first connecting part and the second connecting part are detachably connected.

5. The main operating table according to claim 4, characterized in that: A magnetic attraction part is respectively provided in the first connecting part and the second connecting part, and the main operating table includes a control part. One of the two magnetic attraction parts is an electromagnet that can generate or eliminate magnetic force by turning on or off the power, and the other is a permanent magnet or a component made of magnetic attraction material. The control part is coupled to the electromagnet. When the control part controls the electromagnet to be energized, the two magnetic attraction parts are magnetically attracted and connected, or when the control part controls the electromagnet to be deenergized, the two magnetic attraction parts are separated.

6. The main operating table according to claim 1, characterized in that: The main operating console also includes a control part and a conveying part coupled to the control part. Under the control of the control part, the conveying part can detachably transport the coupling part to the first adjustment part and the second adjustment part and detachably install the coupling part to the first adjustment part and the second adjustment part.

7. The main operating table according to claim 6, characterized in that: The control unit is coupled to the first adjustment unit and the second adjustment unit respectively, the first adjustment unit and the second adjustment unit are electrically adjustable, and the first adjustment unit and the second adjustment unit are adjusted to a registration posture under the control of the control unit to be detachably connected to the coupling unit.

8. The main operating table according to claim 7, characterized in that: The first adjustment unit has a first target posture associated with the alignment posture, and the second adjustment unit has a second target posture associated with the alignment posture. The control unit is configured to adjust the first adjustment unit to rotate from its current posture to the first target posture according to the posture deviation between the first target posture and the current posture of the first adjustment unit, and to adjust the second adjustment unit to rotate from its current posture to the second target posture according to the posture deviation between the second target posture and the current posture of the second adjustment unit, so as to adjust the first adjustment unit and the second adjustment unit to the alignment posture.

9. The main operating table according to claim 7, characterized in that: The conveying part reciprocates between at least two positions in a linear reciprocating motion or a rotational reciprocating motion, one of the positions being associated with the position where the coupling part needs to reach for installation with the first adjusting part and the second adjusting part in the aligned state, and the other position being associated with the position where the coupling part is placed after being separated from the first adjusting part and the second adjusting part.

10. The main operating table according to claim 9, characterized in that: The conveying portion includes a motor and a cam mechanism. The cam mechanism includes a cam and a follower coupled to the cam. The cam is connected to the motor through a transmission assembly. The follower is used to convey the coupling portion.

11. The main operating table according to claim 10, characterized in that: The cam is a disc cam, the follower abuts against the cam surface, and intermittently reciprocates between at least two positions through the periodic rotation of the cam, or the cam is a moving cam, the follower abuts against the cam surface, and the follower reciprocates between at least two positions along the curve of the cam surface.

12. The main operating table according to claim 1, characterized in that: The first adjusting portion includes a first supporting portion and a first rotating portion arranged at the first end of the first supporting portion, and the second adjusting portion includes a second supporting portion and a second rotating portion arranged at the first end of the second supporting portion, and the first rotating portion and the second rotating portion provide at least one identical adjustable posture degree of freedom.

13. The main operating table according to claim 12, characterized in that: A third rotating portion is provided at the second end of the first supporting portion, and a fourth rotating portion is provided at the second end of the second supporting portion. The third rotating portion and the fourth rotating portion provide at least one identical adjustable posture degree of freedom, and are the same as at least one of the identical adjustable posture degrees of freedom provided by the first rotating portion and the second rotating portion. The coupling portion is detachably connected to the third rotating portion and / or the fourth rotating portion.

14. The main operating table according to claim 12, characterized in that: The coupling portion includes a connecting rod, a third rotating portion is provided at the first end of the connecting rod, and a fourth rotating portion is provided at the second end. The third rotating portion and the fourth rotating portion provide at least one identical adjustable posture degree of freedom, and are the same as at least one of the identical adjustable posture degrees of freedom provided by the first rotating portion and the second rotating portion. The third rotating portion and the fourth rotating portion are detachably connected to the first support portion and / or the second support portion.

15. The main operating table according to claim 13 or 14, characterized in that: At least one of the first rotating part, the second rotating part, the third rotating part and the fourth rotating part is a hinge structure with adjustable posture freedom; or, at least one of the first rotating part, the second rotating part, the third rotating part and the fourth rotating part is a ball joint structure with adjustable three posture freedoms; or, at least one of the first rotating part, the second rotating part, the third rotating part and the fourth rotating part is a robotic arm with adjustable multiple posture freedoms, the robotic arm includes a base, a first link, a second link and a third link, the first link and the base are rotationally connected by a first joint so as to be adjustable in a first posture freedom, the second link and the first link are rotationally connected by a second joint so as to be adjustable in a second posture freedom, and the third link and the second link are rotationally connected by a third joint so as to be adjustable in a third posture freedom.

16. The main operating table according to claim 15, characterized in that: The first joint, the second joint, and the third joint are all driven joints; or at least one of the first joint, the second joint, and the third joint is an active joint.

17. The main operating table according to claim 1, characterized in that: When the first adjusting portion and the second adjusting portion are coupled via the coupling portion, a parallelogram four-bar linkage structure is formed.

18. The main operating table according to claim 1, characterized in that: The display portion includes a display, and the imaging portion is a physical display surface of the display; or the display portion includes a display and a mirror component, and the imaging portion is a virtual display surface formed by the mirror component.

19. The main operating table according to claim 18, characterized in that: The mirror assembly includes a plane mirror, an angle is formed between the display and the plane mirror, the imaging part is a virtual display surface, and the plane mirror is located between the display and the imaging part, so that when the first adjustment part and the second adjustment part are coupled, the input part can overlap with the imaging part for intuitive control; or, the mirror assembly includes a convex lens, the convex lens is arranged parallel to the display, the imaging part is a virtual display surface, and the display is located between the convex lens and the imaging part, so that when the first adjustment part and the second adjustment part are coupled, the input part can overlap with the imaging part for intuitive control.

20. A surgical robot, characterized in that: It comprises the main operating console as described in any one of claims 1 to 19.

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