A suspended surgical robot system

Abstract

The present invention relates to a surgical robot system installed in a suspended manner, which includes a top plate fixed to the ceiling. A first guide rail and a first linear motor stator are fixed on the top plate. A Y-axis moving substrate is slidably connected to the first guide rail. A first linear motor mover is fixed to the Y-axis moving substrate through an adapter, and the first linear motor mover drives the Y-axis moving substrate to move along the first linear motor stator. A second guide rail and a second linear motor stator are fixed to the Y-axis moving substrate. An X-axis moving substrate is slidably connected to the second guide rail. A second linear motor mover is fixed to the X-axis moving substrate, and the second linear motor mover drives the X-axis moving substrate to move along the second linear motor stator. An electric lifting column is installed below the X-axis moving substrate, and a surgical instrument is installed at the end of the electric lifting column. The present invention has no restrictions on the use of various postures of the operating bed, greatly improving the flexibility and convenience of the use of the surgical robot system and expanding the scope of surgeries applicable to the surgical robot system.

Description

[Technical Field]

[0001] The present invention relates to the technical field of medical devices, and specifically to a surgical robot system installed in a suspended manner. [Background Art]

[0002] Currently, the existing laparoscopic surgical robot systems in the world are basically designed to be placed at a certain position around the operating table. Therefore, they require a large amount of operating room space. At the same time, the activity space of the bedside operators is also affected to a certain extent, which is not conducive to the timely operation and intervention of doctors or other operators during the operation, reducing the surgical efficiency.

[0003] The patent application "A Modular Surgical Robot System" with the patent publication number CN114848141A proposes a new type of surgical robot system. Compared with the existing laparoscopic surgical robots, although it can greatly reduce the volume and weight of the machine itself, enabling doctors to store and use it more flexibly, and occupying very little bedside operation space, improving the surgical efficiency. However, when this surgical robot system is fixed on both sides of the operating table, the surface of the operating table needs to be kept flat, and the headrest and footrest of the operating table cannot be bent and folded to other angles. This brings difficulties for surgeries in certain special positions where the patient needs to be operated in a non-flat state, that is, when the headrest or footrest needs to be adjusted to a certain angle during the operation, thus restricting the full play of the functions of the operating table. [Summary of the Invention]

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a suspended surgical robot system, which can avoid occupying the space beside the operating table to the greatest extent, has no restrictions on the use of various postures of the operating table, greatly improves the flexibility and convenience of using the surgical robot system, and expands the scope of surgeries applicable to the surgical robot system.

[0005] To achieve the above object, a suspended surgical robot system is designed, including a top plate 1, which is fixed on the ceiling of the operating room. A guide rail 13 extending along the length direction is fixed on the top plate 1. A Y-axis moving substrate 5 is slidably connected to the guide rail 13 through a slider 16. The Y-axis moving substrate 5 makes a linear motion in the Y direction along the guide rail 13. A linear motor stator 14 is also fixed on the top plate 1. The linear motor stator 14 extends along the length direction and is parallel to the guide rail 13. A linear motor mover 18 is fixed on the Y-axis moving substrate 5 through an adapter 7. The linear motor mover 18 drives the Y-axis moving substrate 5 to move along the linear motor stator 14. A guide rail 21 extending along the X-axis direction is fixed on the Y-axis moving substrate 5. An X-axis moving substrate 13 is slidably connected to the guide rail 21 through a slider 22. The X-axis moving substrate 13 makes a linear motion in the X direction along the guide rail 21. A linear motor stator 20 is also fixed on the Y-axis moving substrate 5. The linear motor stator 20 extends along the X-axis direction and is parallel to the guide rail 21. A linear motor mover 24 is fixed on the X-axis moving substrate 13. The linear motor mover 24 is located below the linear motor stator 20. The linear motor mover 24 drives the X-axis moving substrate 13 to move along the linear motor stator 20. An electric lifting column 17 is installed below the X-axis moving substrate 13. The electric lifting column 17 makes a linear motion along the vertical Z-axis direction. A surgical instrument 22 is installed at the end of the electric lifting column 17.

[0006] Further, a steel plate 12 is fixed on the top plate 1. The steel plate 12 extends along the length direction. An electromagnet 19 is fixed on the Y-axis moving substrate 5. The electromagnet 19 moves below the steel plate 12 and attracts the steel plate 12 to stop the Y-axis movement when it reaches the required position and needs to maintain the position.

[0007] Further, the linear motor stator 14 is arranged in the middle of the top plate 1. The guide rail 13 is symmetrically arranged on both sides of the linear motor stator 14. The steel plate 12 is symmetrically arranged on the other side of the guide rail 13. This structural design can make the Y-axis moving substrate 5 move more smoothly in the Y direction along the guide rail 13, and the structure is more stable and reliable.

[0008] Further, a steel plate 26 is fixed on the Y-axis moving substrate 5. An electromagnet 25 is fixed on the X-axis moving substrate 13. The electromagnet 25 moves below the steel plate 26 and attracts the steel plate 26 to stop the X-axis movement when it reaches the required position and needs to maintain the position.

[0009] Furthermore, the linear motor stator II 10 is arranged in the middle of the Y-axis moving substrate 5. The guide rail II 11 is symmetrically arranged on both sides of the linear motor stator II 10, and the steel plate II 16 is symmetrically arranged on the other side of the guide rail II 11. This structural design enables the X-axis moving substrate 13 to move more smoothly along the guide rail II 11 in the X-direction, and the structure is more stable and reliable.

[0010] Furthermore, a rotary hub 18 is installed at the lifting end of the electric lifting column 17, which drives the rotary hub 18 to rise or fall. The rotary hub 18 rotates around its own axis Z-axis. A robotic arm 21 is fixed on the rotary hub 18 through a mounting interface 20, and a surgical instrument 22 is installed at the end of the robotic arm 21.

[0011] Furthermore, a handle 19 is installed on the rotary hub 18. The handle 19 is a ring-shaped handle, and the handle 19 is used for the surgical operator to drag the robotic arm 21 to move or rotate.

[0012] Compared with the prior art, in view of the defects and deficiencies of the prior art, the present invention proposes a suspended surgical robot system. This surgical robot system can be installed on the ceiling of the operating room, retracted to the corner of the operating room when not in use, and can quickly move above the operating table when in use. Moreover, it can conveniently manually adjust the position and posture of the robotic arm and the surgical instrument, thus eliminating the requirements and restrictions of the surgical robot system on the posture of the operating table, greatly improving the flexibility and convenience of using the surgical robot system, and expanding the scope of surgeries applicable to the surgical robot system. In summary, the present invention maximally avoids occupying the space beside the operating table, and there are no restrictions on the use of various posture adjustment functions of the operating table, so it can be applicable to more types of surgeries, improves the surgical efficiency, greatly increases the flexibility of hospitals in using surgical robot equipment, and is worthy of popularization and application. [Description of the Drawings]

[0013] Figure 1 is the overall structural schematic diagram of the present invention;

[0014] Figure 2 is the partial explosion Figure 1 ;

[0015] Figure 3 is the partial explosion Figure 2 ;

[0016] Figure 4 is the degree-of-freedom schematic diagram of the robot system of the present invention;

[0017] Figure 5 is the schematic diagram of the surgical robot of the present invention performing surgery;

[0018] Figure 6It is a schematic diagram of the storage state of the surgical robot of the present invention;

[0019] In the figure: 1. Top plate; 2. First steel plate; 3. First guide rail; 4. First linear motor stator; 5. Y-axis moving substrate; 6. First slider; 7. Adapter; 8. First linear motor mover; 9. First electromagnet; 10. Second linear motor stator; 11. Second guide rail; 12. Second slider; 13. X-axis moving substrate; 14. Second linear motor mover; 15. Second electromagnet; 16. Second steel plate; 17. Electric lifting column; 18. Rotation hub; 19. Handle; 20. Installation interface; 21. Manipulator arm; 22. Surgical instrument. [Specific implementation manner]

[0020] As shown in the attached Figure 1 to the attached Figure 3 As shown, the present invention provides a suspended surgical robot system, including a top plate 1, the top plate 1 is fixed on the ceiling of the operating room, a first guide rail 3 extending along the length direction is fixed on the top plate 1, a Y-axis moving substrate 5 is slidably connected to the first guide rail 3 through a first slider 6, the Y-axis moving substrate 5 makes a linear motion in the Y direction along the first guide rail 3, a first linear motor stator 4 is also fixed on the top plate 1, the first linear motor stator 4 extends along the length direction and is parallel to the first guide rail 3, a first linear motor mover 8 is fixed on the Y-axis moving substrate 5 through an adapter 7, and the first linear motor mover 8 drives the Y-axis moving substrate 5 to move along the first linear motor stator 4; a second guide rail 11 extending along the X-axis direction is fixed on the Y-axis moving substrate 5, an X-axis moving substrate 13 is slidably connected to the second guide rail 11 through a second slider 12, the X-axis moving substrate 13 makes a linear motion in the X direction along the second guide rail 11, a second linear motor stator 10 is also fixed on the Y-axis moving substrate 5, the second linear motor stator 10 extends along the X-axis direction and is parallel to the second guide rail 11, a second linear motor mover 14 is fixed on the X-axis moving substrate 13, the second linear motor mover 14 is located below the second linear motor stator 10, and the second linear motor mover 14 drives the X-axis moving substrate 13 to move along the second linear motor stator 10. An electric lifting column 17 is installed below the X-axis moving substrate 13, the electric lifting column 17 makes a linear motion along the vertical Z-axis direction, and a surgical instrument 22 is installed at the end of the electric lifting column 17. A rotation hub 18 is installed at the lifting end of the electric lifting column 17 and drives the rotation hub 18 to rise or fall. The rotation hub 18 rotates around its own axis Z-axis. A manipulator arm 21 is fixed on the rotation hub 18 through an installation interface 20, and a surgical instrument 22 is installed at the end of the manipulator arm 21; a handle 19 is installed on the rotation hub 18, the handle 19 is a ring-shaped handle, and the handle 19 is used for the surgical operator to drag the manipulator arm 21 to move or rotate.

[0021] Among them, a first steel plate 2 is fixed on the top plate 1. The first steel plate 2 extends along the length direction. An electromagnet 9 is fixed on the Y-axis moving substrate 5. The electromagnet 9 moves below the first steel plate 2 and is attracted to the first steel plate 2 to stop the Y-axis movement when it reaches the required position and needs to maintain the position; the linear motor stator 1 is arranged in the middle of the top plate 1. The first guide rail 3 is symmetrically arranged on both sides of the linear motor stator 1. The first steel plate 2 is symmetrically arranged on the other side of the first guide rail 3. This structural design enables the Y-axis moving substrate 5 to move more smoothly along the first guide rail 3 in the Y-direction linear motion, and the structure is more stable and reliable. A second steel plate 16 is fixed on the Y-axis moving substrate 5. An electromagnet 15 is fixed on the X-axis moving substrate 13. The electromagnet 15 moves below the second steel plate 16 and is attracted to the second steel plate 16 to stop the X-axis movement when it reaches the required position and needs to maintain the position; the linear motor stator 2 is arranged in the middle of the Y-axis moving substrate 5. The second guide rail 11 is symmetrically arranged on both sides of the linear motor stator 2. The second steel plate 16 is symmetrically arranged on the other side of the second guide rail 11. This structural design enables the X-axis moving substrate 13 to move more smoothly along the second guide rail 11 in the X-direction linear motion, and the structure is more stable and reliable.

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0023] In the surgical robot system of the present invention, the top plate 1 is fixed on the ceiling of the operating room. The first guide rail 3 is fixed on the top plate along the length direction of the top plate 1. The Y-axis moving substrate 5 is fixed together with the first slider 6 and moves linearly along the first guide rail 3; the linear motor stator 1 is fixed on the top plate 1 and is parallel to the first guide rail 2. The linear motor mover 1 is fixed on the Y-axis moving substrate 5 through the adapter 7 and drives it to move along the linear motor stator 1; the first steel plate 2 is a strongly magnetic steel plate fixed on the top plate 1. The electromagnet 9 is fixed on the Y-axis moving substrate 5 and moves below the first steel plate 2. When it reaches the required position and needs to maintain the position, the electromagnet 9 is attracted to the first steel plate 2, so that the Y-axis movement stops.

[0024] The X-axis moving substrate 13 is connected to the second guide rail 11 through the second slider 12 and moves linearly along the guide rail. The linear motor stator 2 is fixed on the Y-axis moving substrate 5 and is parallel to the second guide rail 11. The linear motor mover 2 is fixed on the X-axis moving substrate 13 and is located below the linear motor stator 2, so as to drive the X-axis moving substrate 13 to move along the direction of the motor stator; the second steel plate 16 is a strongly magnetic steel plate fixed on the Y-axis moving substrate 5. The electromagnet 15 is fixed on the X-axis moving substrate 13 and moves below the second steel plate 16. When it reaches the required position and needs to maintain the position, the electromagnet 15 is attracted to the second steel plate 16, so that the X-axis movement stops.

[0025] The electric lifting column 17 can move linearly along the vertical direction, i.e., the Z-axis direction, so as to drive the rotation hub 18 to rise or fall; the rotation hub 18 can rotate around its own axis, i.e., the Z-axis. The robotic arm 21 is fixed to the rotation hub 18 through the mounting interface 20, and the surgical instrument 22 is mounted at the end of the robotic arm 21. In addition, an annular handle 19 is mounted on the rotation hub 18. Since the movement resistance of the linear motor itself is very small in the released state, doctors or other surgical operators can easily grasp the handle 19 and drag several robotic arms to move or rotate together, so as to quickly adjust the robotic arm and the surgical instrument to a suitable position.

[0026] When the operation is over or when a conventional operation is performed instead of using the surgical robot, the robotic arm of the surgical robot can be folded and retracted, the electric lifting column 17 can be fully retracted, and the whole can move along the guide rail to be stored in the corner, as shown in the appendix. Figure 6 as shown

[0027] In summary, the present invention maximally avoids occupying the space beside the operating table, and there is no limitation on the use of various attitude adjustment functions of the operating table, so that it can be applicable to more types of operations, improves the operation efficiency, and greatly increases the flexibility of the hospital in using surgical robot equipment.

[0028] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A suspension surgical robot system, characterized in that: It includes a top plate (1) which is fixed to the ceiling of the operating room. A first guide rail (3) extending along the length direction is fixed on the top plate (1). A Y-axis moving substrate (5) is slidably connected to the first guide rail (3) through a first slider (6). The Y-axis moving substrate (5) makes a linear motion in the Y direction along the first guide rail (3). A first linear motor stator (4) is also fixed on the top plate (1). The first linear motor stator (4) extends along the length direction and is parallel to the first guide rail (3). A first linear motor mover (8) is fixed on the Y-axis moving substrate (5) through an adapter (7). The first linear motor mover (8) drives the Y-axis moving substrate (5) to move along the first linear motor stator (4). A second guide rail (11) extending along the X-axis direction is fixed on the Y-axis moving substrate (5). An X-axis moving substrate (13) is slidably connected to the second guide rail (11) through a second slider (12). The X-axis moving substrate (13) makes a linear motion in the X direction along the second guide rail (11). A second linear motor stator (10) is also fixed on the Y-axis moving substrate (5). The second linear motor stator (10) extends along the X-axis direction and is parallel to the second guide rail (11). A second linear motor mover (14) is fixed on the X-axis moving substrate (13). The second linear motor mover (14) is located below the second linear motor stator (10). The second linear motor mover (14) drives the X-axis moving substrate (13) to move along the second linear motor stator (10). An electric lifting column (17) is installed below the X-axis moving substrate (13). The electric lifting column (17) makes a linear motion along the vertical Z-axis direction. A surgical instrument (22) is installed at the end of the electric lifting column (17). A first steel plate (2) is fixed on the top plate (1). The first steel plate (2) extends along the length direction. An electromagnet (9) is fixed on the Y-axis moving substrate (5). The electromagnet (9) moves below the first steel plate (2) and attracts the first steel plate (2) to stop the Y-axis movement when it reaches the required position and needs to maintain the position. The first linear motor stator (4) is arranged in the middle of the top plate (1). The first guide rail (3) is symmetrically arranged on both sides of the first linear motor stator (4). The first steel plate (2) is symmetrically arranged on the other side of the first guide rail (3). A second steel plate (16) is fixed on the Y-axis moving substrate (5). An electromagnet (15) is fixed on the X-axis moving substrate (13). The electromagnet (15) moves below the second steel plate (16) and attracts the second steel plate (16) to stop the X-axis movement when it reaches the required position and needs to maintain the position. The second linear motor stator (10) is arranged in the middle of the Y-axis moving substrate (5). The second guide rail (11) is symmetrically arranged on both sides of the second linear motor stator (10). The second steel plate (16) is symmetrically arranged on the other side of the second guide rail (11).

2. The suspended surgical robot system according to claim 1, characterized in that: The lifting end of the electric lifting column (17) is provided with a rotating hub (18), and drives the rotating hub (18) to rise or fall. The rotating hub (18) rotates around its own axis Z-axis. A robotic arm (21) is fixed on the rotating hub (18) through a mounting interface (20), and a surgical instrument (22) is installed at the end of the robotic arm (21).

3. The suspended surgical robot system according to claim 2, characterized in that: A handle (19) is installed on the rotating hub (18). The handle (19) is a ring-shaped handle, and the handle (19) is used for the surgical operator to drag the robotic arm (21) to move or rotate.

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