Gasless support device, laparoscopic surgery robot

Abstract

The application relates to a gasless support device and a laparoscopic surgery robot, which comprises a power box and a gasless support device; the power box is internally provided with a first driving element and a second driving element; the gasless support device comprises an instrument box, an outer tube, an inner rod, a plurality of support rods and a third transmission assembly; the first transmission assembly is in transmission connection with the first end of the outer tube, and the first driving element is used for driving the first transmission assembly to drive the outer tube to rotate; the first end of the inner rod extends out of the first end of the outer tube, the second driving element is used for driving the second transmission assembly to drive the inner rod to rotate, so that the third transmission assembly drives the support rods to rotate relative to the outer tube. The gasless support device and the laparoscopic surgery robot can automatically control the plurality of support rods to present an open state or a closed state relative to the outer tube through a console, and can automatically control the opening degree and the rotation angle of the plurality of support rods, so that the support rods are in the rotation angle of the opening degree suitable for surgery, and manual participation is not needed.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a gasless abdominal support device and a laparoscopic surgical robot. Background Technology

[0002] Laparoscopic surgery, as a minimally invasive procedure, has advantages such as less trauma, less bleeding, and faster recovery. Clinically, it can be applied to most general surgical procedures, including hepatobiliary surgery, spleen and pancreas surgery, gastrointestinal surgery, thoracic surgery, neck and breast surgery, urinary system surgery, and gynecological surgery.

[0003] Laparoscopic surgery routinely utilizes CO2 pneumoperitoneum to create the surgical operating space. However, because CO2 pneumoperitoneum has many adverse effects on the respiratory and circulatory systems, as well as on the fetus during pregnancy, and carries the risk of related complications, gasless laparoscopic surgery has been developed.

[0004] Gasless laparoscopic surgery typically uses a suspension device to suspend an umbrella-shaped support device. By opening the umbrella-shaped support device, the patient's abdominal wall is supported, thereby creating surgical space within the patient's abdominal cavity.

[0005] However, current gasless laparoscopic surgery requires manually opening and closing the umbrella-shaped support device, and manually adjusting the umbrella-shaped support device to the appropriate degree of opening, which is inconvenient. Summary of the Invention

[0006] Therefore, it is necessary to provide a gasless support device and a laparoscopic surgical robot to address the technical problem that current gasless laparoscopic surgery requires manual opening and closing of the umbrella-shaped support device and manual adjustment of the umbrella-shaped support device to the appropriate opening degree, which is inconvenient to operate.

[0007] A pneumoperitoneum-free support device includes: a power box, an instrument box with a first transmission component and a second transmission component inside, an outer tube, an inner rod passing through the outer tube, a plurality of support rods arranged sequentially along the circumference of the outer tube, and a third transmission component connecting the inner rod and the support rods.

[0008] The power box is equipped with a first driving component and a second driving component;

[0009] The first transmission assembly is connected to the first end of the outer tube, and the first driving member is used to drive the first transmission assembly to drive the outer tube to rotate.

[0010] One end of the support rod is rotatably connected to the outer tube; the first end of the inner rod extends out of the first end of the outer tube; the second transmission assembly is tractively connected to the first end of the inner rod; the second driving member is used to drive the second transmission assembly to rotate the inner rod, so that the third transmission assembly drives the support rod to rotate relative to the outer tube.

[0011] In one embodiment, the first transmission component includes:

[0012] The first driving gear rotates, driven by the first driving member; and,

[0013] A first driven gear meshes with the first driving gear, and the first driven gear is sleeved on the outer tube and rotates coaxially with the outer tube.

[0014] In one embodiment, the second transmission assembly includes:

[0015] The second driving gear is driven to rotate by the second driving member, and the rotation axis of the second driving gear is parallel to and spaced apart from the rotation axis of the first driving gear; and,

[0016] A second driven gear meshes with the second driving gear, the second driven gear being sleeved on the first end of the inner rod and rotating coaxially with the inner rod.

[0017] In one embodiment, the pneumoperitoneum-free support device further includes a linear joint connected to the power box, the linear joint being used to drive the power box to move linearly along the length direction of the outer tube.

[0018] In one embodiment, one end of the support rod is rotatably connected to the second end of the outer tube; the third transmission assembly includes a translation member and a transmission member corresponding to the support rod, the translation member being threadedly connected to the inner rod; the support rod is connected to the translation member through the corresponding transmission member, and when the translation member moves along the inner rod, it can drive the corresponding support rod to rotate through the transmission member.

[0019] In one embodiment, the transmission component is a connecting rod, one end of which is rotatably connected to the translation component, and the other end is rotatably connected to the corresponding support rod.

[0020] In one embodiment, the second end of the inner rod extends beyond the second end of the outer tube, and the translation member is threadedly connected to the second end of the inner rod.

[0021] In one embodiment, the sidewall of the outer tube is provided with a plurality of sliding grooves spaced apart in a circumferential direction, the length direction of the sliding grooves being along the length direction of the outer tube;

[0022] One end of the connecting rod passes through the corresponding slide groove and is rotatably connected to the translation member, and the connecting rod can move along the corresponding slide groove.

[0023] In one embodiment, the transmission component is a gear and is fixedly connected to the corresponding support rod. The gear is rotatably connected to the second end of the outer tube. The outer wall of the translation component is provided with a rack structure that meshes with the transmission component.

[0024] In one embodiment, the pneumoperitoneum-free support device further includes a limiting portion connected to the second end of the inner rod and protruding radially from the inner rod.

[0025] In one embodiment, the support rod has an outer surface facing the radially outer side of the inner rod, the outer surface being arc-shaped.

[0026] One embodiment of this application provides a laparoscopic surgical robot, including a robotic arm and a pneumoperitoneum-free support device according to any of the above embodiments, wherein the power box is disposed at the end of the robotic arm.

[0027] In one embodiment, the laparoscopic surgical robot further includes a console for controlling the first drive and the second drive.

[0028] In the aforementioned gasless abdominal support device and laparoscopic surgical robot, during gasless laparoscopic surgery, the patient lies supine on the operating table. The lower end of the gasless abdominal support device is positioned within the patient's abdominal cavity by the movement of the robotic arm. The outer tube is kept stationary by controlling the first drive component, while the second drive component drives the second transmission assembly to rotate the inner rod. The rotation of the inner rod then drives the third transmission assembly, causing the support rod to rotate relative to the outer tube. Since multiple support rods are arranged sequentially along the circumference of the outer tube, they can either open in an umbrella-like shape or close together in a closed state when rotating relative to the outer tube. When the multiple support rods are in an umbrella-like open state, they can support the patient's abdominal wall, thereby creating a surgical space within the abdominal cavity, facilitating the laparoscopic surgical robot's operation. At the end of the surgery, the multiple support rods can be controlled to close together, completing the closure of the gasless abdominal support device. Therefore, by using the first driving component to keep the outer tube stationary and the second driving component to drive the second transmission assembly to rotate the inner rod, the inner rod drives the third transmission assembly, which in turn drives the support rod to rotate relative to the outer tube. This allows control over the opening and closing states of multiple support rods, as well as the degree of opening, without manual operation. Furthermore, by using the first driving component to drive the first transmission assembly to rotate the outer tube, and simultaneously using the second driving component to drive the second transmission assembly to rotate the inner rod, the outer tube and inner rod rotate synchronously in the same direction. This automatically adjusts the rotation angle of the multiple support rods in their umbrella-shaped open state, ensuring they are at the appropriate rotation angle for surgery, again without manual operation. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a pneumoperitoneum-free support device according to an embodiment;

[0030] Figure 2 for Figure 1 Partial exploded view;

[0031] Figure 3 for Figure 1 A schematic diagram of the removal of the power box in the pneumoperitoneum-free support device;

[0032] Figure 4 for Figure 3 An exploded view of the internal structure of the instrument box for the pneumoperitoneum support device;

[0033] Figure 5 for Figure 3 A cross-sectional view of the instrument box of the pneumoperitoneum support device;

[0034] Figure 6 for Figure 3 Another cross-sectional view of the instrument box for the pneumoperitoneum-free support device;

[0035] Figure 7 An exploded view of the connection structure of the outer tube, inner rod, support rod, and third transmission assembly in one embodiment;

[0036] Figure 8 for Figure 7 A schematic diagram showing the multiple support rods in the open state;

[0037] Figure 9 for Figure 7 A schematic diagram showing the closed state of multiple support rods in the structure;

[0038] Figure 10 for Figure 7 The motion principle diagram of the connecting structure in the diagram;

[0039] Figure 11 An exploded view of the connection structure of the outer tube, inner rod, support rod, and third transmission assembly according to another embodiment;

[0040] Figure 12 for Figure 11 A schematic diagram showing multiple support rods in the open position;

[0041] Figure 13 for Figure 11 A schematic diagram showing multiple support rods in a closed state.

[0042] Figure 14 for Figure 11 The motion principle diagram of the connecting structure in the diagram;

[0043] Figure 15 An exploded view of the connection structure of the outer tube, inner rod, support rod, and third transmission assembly in another embodiment;

[0044] Figure 16 for Figure 15 A schematic diagram showing the multiple support rods in the open state;

[0045] Figure 17 for Figure 15 A schematic diagram showing the closed state of multiple support rods in the structure;

[0046] Figure 18 for Figure 15 The motion principle diagram of the connecting structure in the diagram;

[0047] Figure 19 This is a schematic diagram of the support rod in one embodiment.

[0048] Explanation of icon numbers:

[0049] Power box 100; first drive component 110; second drive component 120; clearance groove 101;

[0050] Instrument box 210; cover 213; base 214; clamping support 215; first stepped hole 201; first stepped surface 201a; second stepped hole 202; second stepped surface 202a; third stepped hole 203; third stepped surface 203a; bearing support 216;

[0051] First driving gear 2111; First driven gear 2112; Transition gear 2113;

[0052] Second driving gear 2121; Second driven gear 2122;

[0053] Outer tube 220; Slide groove 221;

[0054] Inner rod 230; Limiting part 231;

[0055] Support rod 240; outer surface 241 of support rod 240; side edge 242;

[0056] Third transmission assembly; translation component 251; transmission component 252;

[0057] First upper bearing 261; First lower bearing 262; Second upper bearing 263; Second lower bearing 264;

[0058] Third upper bearing 265; Third lower bearing 266; Fourth upper bearing 267; Fourth lower bearing 268;

[0059] First spring retainer ring 271; Second spring retainer ring 272;

[0060] Linear joint 300. Detailed Implementation

[0061] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0062] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0066] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0067] Please refer to Figure 1 One embodiment of this application provides a pneumoperitoneum-free support device. This pneumoperitoneum-free support device includes: a power box 100; an instrument box 210 with a first transmission assembly and a second transmission assembly internally disposed therein; an outer tube 220; an inner rod 230 passing through the outer tube 220; a plurality of support rods 240 arranged sequentially along the circumference of the outer tube 220; and a third transmission assembly connecting the inner rod 230 and the support rods 240. Please refer to... Figure 2 The power box 100 contains a first drive component 110 and a second drive component 120.

[0068] The gasless abdominal support device is used in laparoscopic surgical robots. In actual use, the power unit 100 is located at the end of the robotic arm (not shown). The movements of the robotic arm, the first drive unit 110, and the second drive unit 120 are all controlled by the control console (not shown) of the laparoscopic surgical robot. The specific structures of the robotic arm and the control console can adopt existing technologies, and will not be described in detail here.

[0069] The first transmission assembly is connected to the first end of the outer tube 220, and the first driving component 110 is used to drive the first transmission assembly to drive the outer tube 220 to rotate.

[0070] One end of the support rod 240 is rotatably connected to the outer tube 220. The first end of the inner rod 230 extends beyond the first end of the outer tube 220, and the second transmission assembly is drively connected to the first end of the inner rod 230. The second driving member 120 is used to drive the second transmission assembly to rotate the inner rod 230, so that the third transmission assembly drives the support rod 240 to rotate relative to the outer tube 220. Since the first end of the inner rod 230 extends beyond the first end of the outer tube 220, it is convenient for the second transmission assembly to connect with the inner rod 230. At the same time, the first transmission assembly 220 can connect with the outer tube 220. Furthermore, the first transmission assembly and the second transmission assembly are spaced apart axially in the inner rod 230 and the outer tube 220, which facilitates the arrangement of the first transmission assembly and the second transmission assembly so as to transmit power to the outer tube 220 and the inner rod 230 respectively.

[0071] The gasless abdominal support device can be used for gasless laparoscopic surgery. In actual surgery, the first end of the outer tube 220 is the upper end, and the second end of the outer tube 220 is the lower end. The first end of the inner rod 230 is the upper end, and the second end of the inner rod 230 is the lower end.

[0072] When the aforementioned gasless abdominal support device is used in gasless laparoscopic surgery, the patient lies supine on the operating table. The lower end of the gasless abdominal support device is positioned within the patient's abdominal cavity by the movement of the robotic arm. Controlling the first drive unit 110 via the control console keeps the outer tube 220 stationary and controls the second drive unit 120 to drive the second transmission assembly, which in turn rotates the inner rod 230. The rotation of the inner rod 230 then drives the third transmission assembly, causing the support rod 240 to rotate relative to the outer tube 220. Since the multiple support rods 240 are arranged sequentially along the circumference of the outer tube 220, they can either open in an umbrella-like shape or close together in a closed state when rotating relative to the outer tube 220. When the multiple support rods 240 are in an umbrella-like open state, they support the patient's abdominal wall, thus creating a surgical space within the abdominal cavity, facilitating the laparoscopic surgery robot's operation. At the end of the surgery, the multiple support rods 240 can be controlled to close together, completing the closure of the gasless abdominal support device. Therefore, by controlling the first drive component 110 via the control console to keep the outer tube 220 stationary, and controlling the second drive component 120 to drive the second transmission assembly to rotate the inner rod 230, the inner rod 230 drives the third transmission assembly, which in turn drives the support rod 240 to rotate relative to the outer tube 220. This allows control over the multiple support rods 240 to be in an open or closed state, and the degree of opening of the multiple support rods 240 can be controlled without manual operation. Furthermore, by controlling the first drive component 110 to drive the first transmission assembly to rotate the outer tube 220, and simultaneously controlling the second drive component 120 to drive the second transmission assembly to rotate the inner rod 230, the outer tube 220 and the inner rod 230 rotate synchronously and in the same direction. This automatically adjusts the rotation angle of the multiple support rods 240 in their umbrella-shaped open state, ensuring that the multiple support rods 240 are at a suitable rotation angle for surgery, without manual operation.

[0073] Understandably, there are multiple robotic arms, such as two or three. The endoscope and the gasless abdominal support device of the laparoscopic surgical robot are respectively mounted on different robotic arms, so that the endoscope and the gasless abdominal support device can be moved separately by different robotic arms. This allows the endoscope to move flexibly to facilitate the operation while the gasless abdominal support device supports the patient's abdominal wall.

[0074] like Figure 1 and Figure 2As shown, in one embodiment, the side wall of the power box 100 is provided with a clearance groove 101 to allow the outer tube 220 to pass. The first end of the outer tube 220 and the first end of the inner rod 230 extend into the instrument box 210. The second end of the outer tube 220 and the second end of the inner rod 230 extend through the clearance groove 101 to the side of the power box 100 facing away from the instrument box 210. This makes the connection structure of the power box 100 and the instrument box 210 compact.

[0075] In actual surgery, the power box 100 is located below the instrument box 210. The second end of the outer tube 220 and the second end of the inner rod 230 pass downward through the clearance groove 101. The output shaft of the first drive member 110 extends upward into the instrument box 210 and is connected to the first transmission assembly, and the output shaft of the second drive member 120 extends upward into the instrument box 210 and is connected to the second transmission assembly.

[0076] Please combine Figures 4 to 6 In one embodiment, the first transmission assembly includes a first driving gear 2111 and a first driven gear 2112. The first driven gear 2112 is sleeved on the outer tube 220 and rotates coaxially with the outer tube 220. The first driving gear 2111 meshes with the first driven gear 2112. When the first driving member 110 drives the first driving gear 2111 to rotate, it drives the first driven gear 2112 to rotate, thereby driving the outer tube 220 to rotate.

[0077] Please combine Figures 4 to 6 In one embodiment, the second transmission assembly includes a second driving gear 2121 and a second driven gear 2122 meshing with the second driving gear 2121. The second driven gear 2122 is sleeved on the first end of the inner rod 230 and rotates coaxially with the inner rod 230. When the second driving member 120 drives the second driving gear 2121 to rotate, it can drive the second driven gear 2122 to rotate, thereby driving the inner rod 230 to rotate.

[0078] exist Figures 4 to 6 In the diagram, A1 is the rotation axis of the output shaft of the first driving member 110 (i.e., the first driving gear 2111), A2 is the rotation axis of the output shaft of the second driving member 120 (i.e., the second driving gear 2121), and A3 is the central axis of the inner rod 230 and the outer tube 220 (i.e., the rotation axis during rotation).

[0079] As analyzed above, the first transmission assembly and the second transmission assembly are axially offset from each other on the inner rod 230 and the outer tube 220. In this embodiment, the rotation axis A1 of the output shaft of the first drive member 110 (i.e., the first drive gear 2111) and the rotation axis A2 of the output shaft of the second drive member 120 (i.e., the second drive gear 2121) are arranged parallel to each other (i.e., offset in the direction perpendicular to the axial direction of the inner rod 230 and the outer tube 220), thereby preventing interference between the first transmission assembly and the second transmission assembly and facilitating the installation and arrangement of the first transmission assembly and the second transmission assembly.

[0080] Please combine Figures 3 to 6 In one embodiment, the instrument box 210 includes a housing 213 and a base 214. One end of the housing 210 has an opening (not shown), and the base 214 is mounted at the opening of the housing 210. A first transmission assembly is mounted on the base 214. The output shaft of a first drive member 110 passes through the base 214 and is connected to the first transmission assembly, and the output shaft of a second drive member 120 passes through the base 214 and is connected to the second transmission assembly.

[0081] Because the output shaft of the first driving member 110 passes through the base 214 and is connected to the first transmission assembly, the output shaft of the second driving member 120 passes through the base 214 and is connected to the second transmission assembly, and other structures arranged on the base 214, they all occupy space on the base 214, thus restricting the arrangement of the first driving gear 2111 and the first driven gear 2112. Therefore, please refer to... Figure 4 and Figure 5 In one embodiment, the first transmission assembly further includes a transition gear 2113, with the first driving gear 2111 and the first driven gear 2112 respectively meshing with the transition gear 2113, thereby indirectly meshing the first driving gear 2111 and the first driven gear 2112. Thus, by placing the transition gear 2113 between the first driving gear 2111 and the first driven gear 2112, the indirect meshing of the first driving gear 2111 and the first driven gear 2112 is facilitated within the limited space on the base 214.

[0082] Please combine Figures 4 to 6 In one embodiment, the instrument box 210 further includes a clamping support 215, which is fixedly connected to the base 214 and located on the side of the inner rod 230 opposite to the second end. The clamping support 215 is used to limit the first end of the inner rod 230, the output shaft of the first drive member 110, and the output shaft of the second drive member 120, preventing the inner rod 230, the first drive member 110, and the second drive member 120 from moving axially in the direction where the first end of the inner rod 230 is opposite to the second end (in... Figure 5 and Figure 6 From the perspective of [the viewpoint], it darts upwards.

[0083] Please combine Figures 5 to 6 In one embodiment, the clamping support 215 is provided with a first stepped hole 201, a second stepped hole 202, and a third stepped hole 203. The first stepped hole 201 has a first stepped surface 201a, the second stepped hole 202 has a second stepped surface 202a, and the third stepped hole 203 has a third stepped surface 203a. The first stepped surface 201a, the second stepped surface 202a, and the third stepped surface 203a all face the second end of the inner rod 230 away from the first end (in... Figure 5 and Figure 6 From the perspective of looking downwards.

[0084] The output shaft of the first driving member 110 engages with the first stepped hole 201 to limit the output shaft of the first driving member 110 with the first stepped surface 201a. Since the first stepped surface 201a faces the second end of the inner rod 230 away from the first end (in... Figure 5 and Figure 6 From a downward perspective, this prevents the first drive member 110 from moving away from the second end of the inner rod 230 (in the direction of the first end of the inner rod 230). Figure 5 and Figure 6 From the perspective of upward movement. Similarly, the output shaft of the second drive member 120 engages with the second stepped hole 202 so that the second stepped surface 202a limits the output shaft of the second drive member 120, thereby preventing the second drive member 120 from moving away from the first end of the inner rod 230 away from the second end (in the direction of upward movement). Figure 5 and Figure 6 From the perspective of upward movement. The inner rod 230 engages with the third stepped hole 203 so that the third stepped surface 203a limits the first end of the inner rod 230, thereby preventing the inner rod 230 from moving away from the second end (in the direction of the first end of the inner rod 230 away from the second end). Figure 5 and Figure 6 From the perspective of [the viewpoint], it darts upwards.

[0085] Please combine Figures 4 to 6 In one embodiment, the output shaft of the first drive member 110 is rotatably connected to the clamping support 215 via the first upper bearing 261 and rotatably connected to the base 214 via the first lower bearing 262. The first upper bearing 261 and the first lower bearing 262 are arranged at intervals along the axial direction of the first drive member 110, thereby preventing the output shaft of the first drive member 110 from wobbling during rotation.

[0086] Furthermore, the first upper bearing 261 mates with the first stepped hole 201, and the first stepped surface 201a is used to limit the first upper bearing 261, preventing the first upper bearing 261 from moving away from the second end of the inner rod 230 (in the direction of the first end moving away from the second end). Figure 5 and Figure 6From the perspective of upward movement, this prevents the first driving member 110 from moving in the direction of the first end of the inner rod 230 away from the second end (in the direction of upward movement). Figure 5 and Figure 6 From the perspective of [the viewpoint], it darts upwards.

[0087] like Figure 4 and Figure 5 As shown, specifically, a first spring retainer 271 is sleeved on the output shaft of the first drive member 110. The first spring retainer 271 is located on the side of the first upper bearing 261 opposite to the first lower bearing 262. The first spring retainer 271 cooperates with the first upper bearing 261 to prevent the first drive member 110 from falling out of the first stepped hole 101.

[0088] Please combine Figures 4 to 6 In one embodiment, the output shaft of the second drive member 120 is rotatably connected to the clamping support 215 via the second upper bearing 263 and rotatably connected to the base 214 via the second lower bearing 264. The second upper bearing 263 and the second lower bearing 264 are arranged at intervals along the axial direction of the second drive member 120, thereby preventing the output shaft of the second drive member 120 from wobbling during rotation.

[0089] Furthermore, the second upper bearing 263 mates with the second stepped hole 202, and the second stepped surface 201a is used to limit the second upper bearing 263, preventing the second upper bearing 263 from moving away from the second end of the inner rod 230 (in the direction of the first end of the inner rod 230 away from the second end). Figure 5 and Figure 6 From the perspective of upward movement, this prevents the second drive member 120 from moving away from the direction of the first end of the inner rod 230 away from the second end (in the direction of upward movement). Figure 5 and Figure 6 From the perspective of [the viewpoint], it darts upwards.

[0090] like Figure 4 and Figure 6 As shown, specifically, a second spring retainer 272 is fitted onto the output shaft of the second drive member 120. The second spring retainer 272 is located on the side of the second upper bearing 263 opposite to the second lower bearing 264. The second spring retainer 272 cooperates with the second upper bearing 263 to prevent the second drive member 120 from falling out of the second stepped hole 102.

[0091] Please combine Figures 4 to 6 In one embodiment, the instrument box 210 further includes a bearing support 216, which is located between the base 214 and the clamping support 215 and is fixedly connected to the base 214 and the clamping support 215.

[0092] The portion of the inner rod 230 extending out of the outer tube 220 is rotatably connected to the clamping support 215 via the third upper bearing 265, and rotatably connected to the bearing support 216 via the third lower bearing 266. The third upper bearing 265 and the third lower bearing 266 are arranged at intervals along the axial direction of the inner rod 230, thereby preventing the inner rod 230 from wobbling during rotation.

[0093] The outer tube 220 is rotatably connected to the bearing support 216 via the fourth upper bearing 267, and rotatably connected to the clamping support 215 via the fourth lower bearing 268. The fourth upper bearing 267 and the fourth lower bearing 268 are arranged at intervals along the axial direction of the outer tube 220, thereby preventing the outer tube 220 from wobbling during rotation.

[0094] Furthermore, the third upper bearing 265 mates with the third stepped hole 203, and the third stepped surface 203a is used to limit the third upper bearing 265, preventing the third upper bearing 265 from moving away from the second end of the inner rod 230 (in the direction of the first end of the inner rod 230 away from the second end). Figure 5 and Figure 6 From the perspective of upward movement, this prevents the inner rod 230 from moving away from the second end of the first end (in the direction of the second end). Figure 5 and Figure 6 From the perspective of [the viewpoint], it darts upwards.

[0095] Please refer to Figure 1 In one embodiment, the pneumoperitoneum-free support device further includes a linear joint 300 connected to the power box 100. The linear joint 300 is used to drive the power box 100 to move linearly along the length of the outer tube 220. In actual use, the linear joint 300 is located at the end of the robotic arm of the laparoscopic surgical robot and is controlled by the console of the laparoscopic surgical robot.

[0096] During actual surgery, the length of the outer tube 220 can be vertical or slightly inclined to the vertical direction. The control console controls the linear joint 300 to move the power box 100 linearly along the length of the outer tube 220, which in turn moves the gasless abdominal support device up and down, thus facilitating the adjustment of the depth of the gasless abdominal support device into the patient's abdominal cavity.

[0097] Please refer to Figures 7 to 18 In some embodiments, one end of the support rod 240 is rotatably connected to the second end of the outer tube 220. The third transmission assembly includes a translation member 251 and a transmission member 252 corresponding to the support rod 240. The translation member 251 is threadedly connected to the inner rod 230. The support rod 240 is connected to the translation member 251 through the corresponding transmission member 252. When the translation member 251 moves along the inner rod 230, it can drive the corresponding support rod 240 to rotate through the transmission member 252.

[0098] Each support rod 240 corresponds to at least one transmission component 252. For example, the support rods 240 and transmission components 252 can be in a one-to-one correspondence. Alternatively, one support rod 240 can correspond to multiple transmission components 252.

[0099] Please refer to Figures 7 to 14 In some embodiments, the transmission component 252 is a connecting rod, one end of which is rotatably connected to the translation component 251, and the other end is rotatably connected to the corresponding support rod 240.

[0100] When the inner rod 230 rotates, it drives the translation member 251 to move along the inner rod 230 through the threaded transmission with the translation member 251. Since one end of the connecting rod is rotatably connected to the translation member 251 and the other end is rotatably connected to the corresponding support rod 240, the movement of the translation member 251 along the inner rod 230 can drive one end of the connecting rod to move synchronously. This causes the end of the connecting rod connected to the support rod 240 to drive the support rod 240 to rotate, thereby causing the multiple support rods 240 to be in an umbrella-like open state or a closed state.

[0101] Please refer to Figures 7 to 10 In one embodiment, the second end of the inner rod 230 extends out of the second end of the outer tube 220, and the translation member 251 is threadedly connected to the second end of the inner rod 230 (i.e., the part of the inner rod 230 that extends out of the outer tube 220).

[0102] In this embodiment, when the multiple support rods 240 are in an umbrella-like open state, the end connected to the connecting rod and the translation member 251 is the lower end, and the end connected to the support rod 240 is the upper end. The ends of the multiple support rods 240 away from the outer tube 220 are inclined downwards. The umbrella-like structure formed by the multiple support rods 240 opens downwards. The outer surface of the multiple support rods 240 is used to support the inner wall of the patient's abdominal cavity. Specifically, the outer surface of the support rod 240 is the radially outer surface of the support rod 240 facing the inner rod 230.

[0103] Please refer to Figures 11 to 14 In another embodiment, the sidewall of the outer tube 220 is provided with a plurality of circumferentially spaced grooves 221, the length direction of which is along the length direction of the outer tube 220. One end of the connecting rod passes through the corresponding groove 221 and is rotatably connected to the translation member 251, and the connecting rod can move along the groove 221. One groove 221 may correspond to one connecting rod, or one groove 221 may correspond to multiple connecting rods.

[0104] In this embodiment, when the multiple support rods 240 are in an umbrella-like open state, the end connected to the connecting rod and the translation member 251 is the upper end, and the end connected to the support rod 240 is the lower end. The ends of the multiple support rods 240 away from the outer tube 220 are inclined upwards. The umbrella-like structure formed by the multiple support rods 240 opens upwards. The outer surfaces of the multiple support rods 240 are used to support the inner wall of the patient's abdominal cavity. Specifically, the outer surface of the support rod 240 is the radially outer surface of the support rod 240 facing the inner rod 230.

[0105] Please refer to Figures 15 to 18 In another embodiment, the transmission member 252 is a gear and is fixedly connected to the corresponding support rod 240. The gear is rotatably connected to the outer tube 220, so that when the gear rotates relative to the outer tube 220, it can drive the support rod 240 to rotate relative to the outer tube 220. Moreover, the rotation center of the gear coincides with the rotation center of the support rod 240 relative to the outer tube 220. The outer wall of the translation member 251 is provided with a rack structure that meshes with the transmission member 252. When the inner rod 230 drives the translation member 251 to move along the inner rod 230, the rack structure on the translation member 251 drives the corresponding gear to rotate, thereby driving the corresponding support rod 240 to rotate. The gear can be a complete gear or an incomplete partial gear structure. The outer surfaces of the multiple support rods 240 are used to support the inner wall of the patient's abdominal cavity. The outer surface of the support rod 240 is the radially outer surface of the support rod 240 facing the inner rod 230.

[0106] In this embodiment, since the support rod 240 is rotatably connected to the second end of the outer tube 220 via a gear, i.e. the gear is located at the rotatable connection between the support rod 240 and the outer tube 220, it does not occupy the internal space of the umbrella-shaped structure formed by multiple support rods 240, thus saving space and enabling the laparoscopic surgical robot to have a larger surgical space.

[0107] like Figure 16 and Figure 18 As shown, in this embodiment, when the multiple support rods 240 are in an umbrella-like open state, the umbrella-like structure formed by the multiple support rods 240 has an opening facing downwards.

[0108] In other embodiments, when the plurality of support rods 240 are in an umbrella-like open state, the umbrella-like structure formed by the plurality of support rods 240 may also be open downwards.

[0109] Please refer to Figure 7 , Figure 8 , Figure 11 , Figure 15 as well as Figure 16The pneumoperitoneum-free support device also includes a limiting part 231. The limiting part 231 is connected to the second end of the inner rod 230 and protrudes from the inner rod 230 radially, so that the portion of the limiting part 231 protruding from the inner rod 230 can block the translation member 251 and prevent the translation member 251 from disengaging from the inner rod 230.

[0110] Please refer to Figure 19 In one embodiment, the support rod 240 has an outer surface 241 facing radially outward toward the inner rod 230, and the outer surfaces 241 of the plurality of support rods 240 are used to support the inner wall of the patient's abdominal cavity. The outer surfaces 241 of the support rods 240 are arc-shaped, thereby making it less likely to damage the wall of the patient's abdominal cavity.

[0111] Please refer to Figure 19 In one embodiment, the side edges 242 of the support rod 240 along both sides of the inner rod 230 in the circumferential direction are rounded, so as not to damage the wall of the patient's abdominal cavity.

[0112] One embodiment of this application provides a laparoscopic surgical robot. The laparoscopic surgical robot includes a robotic arm and a pneumoperitoneum-free support device as described in any of the above embodiments. A power unit 100 is disposed at the end of the robotic arm.

[0113] In one embodiment, the laparoscopic surgical robot also includes a console for controlling the first drive 110 and the second drive 120.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0115] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A pneumoperitoneum-free support device, characterized in that, include: The device includes a power box, an instrument box with a first transmission assembly and a second transmission assembly inside, an outer tube, an inner rod passing through the outer tube, a plurality of support rods arranged sequentially along the circumference of the outer tube, and a third transmission assembly connecting the inner rod and the support rods. The power box is equipped with a first driving component and a second driving component; The first transmission assembly is connected to the first end of the outer tube in a transmission connection. The first driving member is used to drive the first transmission assembly to drive the outer tube to rotate. The first transmission assembly includes a first driven gear, which is sleeved on the outer tube and rotates coaxially with the outer tube. One end of the support rod is rotatably connected to the outer tube; the first end of the inner rod extends out of the first end of the outer tube; the second transmission assembly is operatively connected to the first end of the inner rod; the second transmission assembly includes a second driven gear, which is sleeved on the first end of the inner rod and rotates coaxially with the inner rod. The first transmission assembly and the second transmission assembly are spaced apart axially from each other in the inner rod and the outer tube; The second driving component is used to drive the second transmission assembly to rotate the inner rod, so that the third transmission assembly drives the support rod to rotate relative to the outer tube.

2. The pneumoperitoneum-free support device according to claim 1, characterized in that, The first transmission assembly includes: The first driving gear rotates, driven by the first driving member; and, The first driven gear meshes with the first driving gear.

3. The pneumoperitoneum-free support device according to claim 2, characterized in that, The second transmission assembly includes: The second driving gear is driven to rotate by the second driving member, and the rotation axis of the second driving gear is parallel to and spaced apart from the rotation axis of the first driving gear; and, The second driven gear meshes with the second driving gear.

4. The pneumoperitoneum-free support device according to claim 1, characterized in that, It also includes a linear joint connected to the power box, the linear joint being used to drive the power box to move linearly along the length direction of the outer tube.

5. The pneumoperitoneum-free support device according to claim 1, characterized in that, One end of the support rod is rotatably connected to the second end of the outer tube; the third transmission assembly includes a translation component and a transmission component corresponding to the support rod, the translation component being threadedly connected to the inner rod; the support rod is connected to the translation component through the corresponding transmission component, and when the translation component moves along the inner rod, it can drive the corresponding support rod to rotate through the transmission component.

6. The pneumoperitoneum-free support device according to claim 5, characterized in that, The transmission component is a connecting rod, one end of which is rotatably connected to the translation component, and the other end is rotatably connected to the corresponding support rod.

7. The pneumoperitoneum-free support device according to claim 6, characterized in that, The second end of the inner rod extends out of the second end of the outer tube, and the translation member is threadedly connected to the second end of the inner rod.

8. The pneumoperitoneum-free support device according to claim 6, characterized in that, The outer tube has a plurality of sliding grooves spaced apart circumferentially on its side wall, and the length direction of the sliding grooves is along the length direction of the outer tube. One end of the connecting rod passes through the corresponding slide groove and is rotatably connected to the translation member, and the connecting rod can move along the corresponding slide groove.

9. The pneumoperitoneum-free support device according to claim 5, characterized in that, The transmission component is a gear and is fixedly connected to the corresponding support rod. The gear is rotatably connected to the second end of the outer tube. The outer wall of the translation component is provided with a rack structure that meshes with the transmission component.

10. The pneumoperitoneum-free support device according to claim 5, characterized in that, The pneumoperitoneum-free support device also includes a limiting part, which is connected to the second end of the inner rod and protrudes radially from the inner rod.

11. The pneumoperitoneum-free support device according to claim 1, characterized in that, The support rod has an outer surface facing the radially outer side of the inner rod, and the outer surface is arc-shaped.

12. A laparoscopic surgical robot, characterized in that, The robotic arm and the pneumoperitoneum-free support device according to any one of claims 1 to 11, wherein the power box is disposed at the end of the robotic arm.

13. The laparoscopic surgical robot according to claim 12, characterized in that, It also includes a console for controlling the first driver and the second driver.

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