Surgical robot and surgical system

Abstract

The application relates to a surgical robot and a surgical system. The surgical robot comprises a support structure for mounting the surgical robot at a mounting position, an adjusting mechanical arm arranged on the support structure, an operating mechanical arm arranged on the adjusting mechanical arm, and a bearing structure arranged on the operating mechanical arm and used for bearing an operating instrument; the adjusting mechanical arm drives the operating mechanical arm and the bearing structure to move so as to adjust the spatial position of the bearing structure, and the operating mechanical arm drives the bearing structure to move so as to adjust the pitch angle and the deflection angle of the bearing structure. The support structure, the adjusting mechanical arm, the operating mechanical arm and the bearing structure are modularly designed, the installation flexibility is improved, the structure is simple, the stability is high, the occupied space of the surgical robot is small, and the space utilization rate is improved.

Description

Technical Field

[0001] This invention relates to the field of medical surgical equipment technology, and in particular to a surgical robot and surgical system. Background Technology

[0002] With the rapid development of robotics technology, minimally invasive surgical robots are gaining wider application due to their advantages such as less bleeding and faster recovery. Surgical robots generally consist of multiple robotic arms. In traditional techniques, the robotic arms of surgical robots are often arranged in a centralized or distributed manner. However, the traditional robotic arm structure, whether centralized or distributed, requires a large amount of space and leads to inflexible operation, affecting its performance. Summary of the Invention

[0003] Based on this, in order to address the problems of large space occupation and inflexible operation of surgical robots, this application provides a surgical robot that reduces space occupation and increases operational flexibility.

[0004] A surgical robot, comprising:

[0005] A support structure for mounting the surgical robot in the mounting position;

[0006] Adjust the robotic arm and position it on the supporting structure;

[0007] Operate the robotic arm, which is positioned on the adjusting robotic arm; and

[0008] A support structure is provided on the operating robotic arm to support the operating instruments;

[0009] The adjustment robotic arm drives the operation robotic arm and the load-bearing structure to move in order to adjust the spatial position of the load-bearing structure. The operation robotic arm drives the load-bearing structure to move in order to adjust the pitch angle and yaw angle of the load-bearing structure.

[0010] In one embodiment, the support structure includes a support base, a lifting component, a mounting component, and a first disassembly structure. The lifting component is disposed on one surface of the support base, and the adjusting robotic arm is mounted on the top of the lifting component. The mounting component is rotatably disposed on the surface of the support base for mounting at the mounting position. The first disassembly structure detachably connects the support base and the lifting component.

[0011] In one embodiment, the adjusting robotic arm has at least four active rotating components connected in series. The first end of each active rotating component is rotatably mounted on the lifting component, and the last end is rotatably connected to the operating robotic arm.

[0012] In one embodiment, the active rotating component includes a rotating link and a rotating joint, the rotating joint being mounted on the rotating link, and the output end of the rotating joint being connected to the rotating link, the lifting component, or the operating robotic arm adjacent to the active rotating component.

[0013] In one embodiment, the robotic arm includes a first drive member, a second drive member, and a telecentric assembly. One end of the first drive member is connected to the active rotating member, and the other end is connected to one end of the second drive member. The other end of the second drive member is connected to the support structure through the telecentric assembly.

[0014] The first driving member drives the second driving member to cause the telecentric component and the supporting structure to perform a deflection motion, and the second driving member causes the telecentric component and the supporting structure to perform a pitching motion.

[0015] In one embodiment, both the first driving member and the second driving member include a driving joint and a driving link;

[0016] Both the rotary joint and the drive joint include a rotary motor, a driver, a brake, a reducer, an output flange, and an encoder. The rotary motor is electrically connected to the driver, and the encoder is electrically connected to the driver. The reducer and the output flange are installed at the output end of the rotary motor, and the brake is installed at the other end of the rotary motor. The output flange is connected to the rotary linkage, the lifting component, or the operating robotic arm adjacent to the active rotary component.

[0017] In one embodiment, the surgical robot further includes a second disassembly structure, which includes a fourth mounting portion and a third mounting portion. One of the fourth mounting portion and the third mounting portion is disposed at the end of each of the active rotating components connected in series, and the other is disposed at the second driving component. The active rotating component is detachably mounted to the driving linkage through the fourth mounting portion and the third mounting portion.

[0018] In one embodiment, the support structure includes a linear motion component and a support member. The support member is connected to the end of the operating robotic arm. The linear motion component is disposed on the support member and carries the operating device. A detachable clip is disposed on the support member to support and fix the operating device.

[0019] In one embodiment, the mounting location is a hospital bed, ceiling, floor, support platform, or support rail.

[0020] A surgical system includes a console and at least one surgical robot as described in any of the above technical features, wherein the at least one surgical robot is disposed in a mounting position, the console being electrically connected to the surgical robot and controlling the surgical robot to perform surgery on a patient.

[0021] By adopting the above technical solution, the present invention has at least the following technical effects:

[0022] The surgical robot and surgical system of this invention integrate an adjustable robotic arm, an operating robotic arm, and a load-bearing structure through a support structure. The robot is mounted to its installation position via the support structure, allowing for flexible installation in different locations. The adjustable robotic arm drives the operating robotic arm and the load-bearing structure to move, adjusting the position of the load-bearing structure. Furthermore, the operating robotic arm drives the load-bearing structure to perform pitch and yaw movements, adjusting the pitch and yaw angles of the load-bearing structure and the operating instruments on it. This ensures the operating instruments are aligned with the surgical site on the patient's body surface. The load-bearing structure supports the operating instruments and moves them, adjusting the distance between the operating instruments and the surgical site. The surgical robot of this invention features a modular design for the support structure, adjustable robotic arm, operating robotic arm, and load-bearing structure. The support structure increases installation flexibility, resulting in a simple structure, high stability, and a small footprint, improving space utilization. Attached Figure Description

[0023] Figure 1 This is a perspective view of a surgical robot according to an embodiment of the present invention;

[0024] Figure 2 for Figure 1 The diagram shows the surgical robot installed on the hospital bed.

[0025] Figure 3 for Figure 1 A schematic diagram of the surgical robot shown;

[0026] Figure 4 for Figure 1 The diagram shows the drive joints and rotation joints in the surgical robot.

[0027] Figure 5 for Figure 2 The diagram shown illustrates the installation of three surgical robots onto a hospital bed.

[0028] Figure 6 for Figure 1 The diagram shows a surgical robot mounted on the ceiling.

[0029] Figure 7 for Figure 6 The diagram shown illustrates the installation of three surgical robots on the ceiling.

[0030] Figure 8 for Figure 1 The diagram shows the surgical robot mounted on the support rail.

[0031] Figure 9 for Figure 1 The diagram shown is a schematic of the distal assembly of the surgical robot after the connecting rods have been removed.

[0032] The components are as follows: 100, Surgical robot; 110, Support structure; 111, Support base; 112, Lifting component; 113, Mounting component; 120, Adjusting robotic arm; 121, Active rotating component; 1211, Rotary joint; 12111, Rotary motor; 12112, Driver; 12113, Brake; 12114, Reducer; 12115, Output flange; 12116, Encoder; 122, First active rotating component; 123, Second active rotating component; 124, Third active rotating component; 125, Fourth active rotating component; 130, Operating robotic arm; 131, First drive component; 132, Second drive component; 133, Telecentric assembly; 1331, First transmission. Components; 13311, First synchronous belt assembly; 13312, First support shaft; 13313, First connecting rod; 1332, Second transmission component; 13321, Second synchronous belt assembly; 13322, Second support shaft; 13323, Second connecting rod; 1333, Third transmission component; 13331, Third synchronous belt assembly; 13332, Third connecting rod; 140, Bearing structure; 141, Linear motion assembly; 142, Bearing component; 150, First disassembly structure; 160, Second disassembly structure; 200, Surgical instrument; 210, Operating end; 220, Power rod; 230, Power box; 240, End instrument; 300, Hospital bed; 500, Support rail; 600, Stamping card. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] See Figures 1 to 9 This invention provides a surgical robot 100. The surgical robot 100 is applied to a surgical system and is capable of carrying surgical instruments to perform surgery on a patient's lesion. It is understood that the surgical instruments include, but are not limited to, surgical instruments, endoscopic systems, etc., wherein the surgical instruments 200 can be various commonly used surgical instruments.

[0040] Currently, surgical robots typically employ either a centralized or distributed arrangement of multiple robotic arms. Both of these arrangements suffer from drawbacks such as large space requirements, cumbersome surgical procedures, and limited operational flexibility, thus affecting the robot's performance. To address this, this invention provides a novel surgical robot 100. This surgical robot 100 adopts a modular design, reducing its space requirements while ensuring operational flexibility and allowing for flexible installation. The specific structure of the surgical robot 100 is described below:

[0041] See Figures 1 to 9 In one embodiment, the surgical robot 100 includes a support structure 110, an adjustment robotic arm 120, an operating robotic arm 130, and a load-bearing structure 140. The support structure 110 is used to mount the surgical robot 100 in a mounting position; the adjustment robotic arm 120 is disposed on the support structure 110; the operating robotic arm 130 is disposed on the adjustment robotic arm 120; the load-bearing structure 140 is disposed on the operating robotic arm 130 and is used to carry the operating instruments; the adjustment robotic arm 120 drives the operating robotic arm 130 and the load-bearing structure 140 to move to adjust the spatial position of the load-bearing structure 140, the operating robotic arm 130 drives the load-bearing structure 140 to move to adjust the pitch angle and yaw angle of the load-bearing structure 140, and the load-bearing structure 140 is used to drive the movement of the operating instruments.

[0042] The support structure 110 serves as the base for the surgical robot 100, supporting and carrying it. Simultaneously, this support structure 110 is used to mount the surgical robot 100 to its mounting position. In other words, the surgical robot 100 is mounted to its mounting position via the support structure 110, fixing its position and ensuring it will not shift during surgery, thus guaranteeing safety. It should be noted that the term "mounting position" refers to the installation location of the surgical robot 100; however, the location of the mounting position is not actually limited, as long as it allows for the installation of the surgical robot 100 and enables it to perform surgical operations. The specific location of the mounting position will be detailed later.

[0043] The surgical robot 100 is detachably mounted to its mounting position via the support structure 110. This provides greater flexibility in its mounting location, allowing the robot to be positioned according to the specific surgical needs. This enables the surgical robot 100 to adapt to different surgical sites on different patients, increasing its versatility. When the surgical robot 100 is needed for surgery, the support structure 110 is mounted to its mounting position. After the surgery, the support structure 110 can be removed from its mounting position or its position adjusted to prevent collisions between medical staff, patients, and the surgical robot 100.

[0044] An adjusting robotic arm 120 is mounted on a supporting structure 110, an operating robotic arm 130 is mounted on the adjusting robotic arm 120, and a bearing structure 140 is mounted on the operating robotic arm 130. Operating instruments are mounted on the bearing structure 140. One end of the adjusting robotic arm 120 is mounted on the supporting structure 110, and the other end of the adjusting robotic arm 120 is connected to one end of the operating robotic arm 130. The other end of the operating robotic arm 130 is mounted on the bearing structure 140. The adjusting robotic arm 120 has multiple degrees of freedom. When the adjusting robotic arm 120 moves, it can drive the operating robotic arm 130 and the bearing structure 140 to move synchronously, causing the bearing structure 140 to move to the vicinity of the patient's lesion location. This allows the puncture card 600 (described in detail later) on the patient's body surface to align with the interface (mentioned later) on the bearing structure 140. This indicates that the operating robotic arm 130 has reached its designated position, achieving the adjustment of the spatial position of the bearing structure 140.

[0045] Subsequently, the robotic arm 130 drives the support structure 140 and its onboard surgical instrument to perform pitch and yaw movements, adjusting the pitch and yaw angles of the surgical instrument to align it with the patient's lesion. The support structure 140 drives the surgical instrument to extend, allowing it to enter the patient's body for surgery. After the surgery, the support structure 140 drives the surgical instrument to retract, removing it from the patient's body. In this invention... Figure 1In this procedure, the surgical instruments held by the surgical robot 100 are surgical instruments 200. When three surgical robots 100 are used for surgery, two of them hold surgical instruments 200, and the other holds an endoscope system. Of course, the instruments on the three surgical robots 100 can be adjusted according to the surgical needs. In addition, the number of surgical robots 100 can be more, and the surgical instruments 200 can be set according to the actual surgical needs.

[0046] When the surgical robot 100 of the present invention performs surgical operations on a patient's lesion site, such as the abdominal cavity, the surgical robot 100 is installed in the mounting position via the support structure 110. After the puncture card 600 is installed on the patient's lesion site, the control and adjustment robotic arm 120 drives the operation robotic arm 130 and the support structure 140 to move, so that the docking interface on the support structure 140 moves to the vicinity of the puncture card 600 on the patient's body surface, and the puncture card 600 is installed onto the docking interface. The pitch and deflection angles of the support structure 140 and the surgical instrument 200 are adjusted by the operation robotic arm 130, so that the operation instrument is accurately aligned with the patient's lesion site. Subsequently, the support structure 140 is controlled to perform the surgical operation. It is understood that the movement of the adjustment robotic arm 120 and the operation robotic arm 130 can be manually adjusted by medical staff or automatically controlled by the control console.

[0047] In the surgical robot 100 of the above embodiments, the surgical robot 100 is formed by a support structure 110, an adjustment robotic arm 120, an operating robotic arm 130, and a load-bearing structure 140. This modular design makes the surgical robot 100 simple in structure, highly stable, and occupies less space, improving space utilization. Furthermore, the surgical robot 100 can be installed at any position through the support structure 110, increasing installation flexibility. The surgical robot 100 of the present invention controls the operating instruments through the support structure 110, the adjustment robotic arm 120, the operating robotic arm 130, and the load-bearing structure 140, making the surgical robot 100 flexible in operation and ensuring its performance.

[0048] In one embodiment, the installation location is a hospital bed, ceiling, floor, support platform or support rail 500, etc., that is, the surgical robot 100 can be installed in different locations in the operating room through the installation location.

[0049] For example, the mounting position is located on the hospital bed, and the support structure 110 is mounted to the side of the hospital bed through the mounting position, such as... Figure 2 and Figure 5 As shown. Exemplarily, the mounting position is located on the ceiling above the hospital bed. In this case, the support structure 110 is mounted to the ceiling via the mounting position, and the surgical robot 100 is suspended above the hospital bed, as... Figure 6 and Figure 7 As shown.

[0050] like Figure 8 As shown, exemplarily, the ceiling has at least one support rail 500, with a slidable slider disposed within the support rail 500. This slider is connected to a support structure 110, allowing the entire surgical robot 100 to be mounted onto the slider. The support structure 110 moves along the rail via the slider, adjusting the position of the surgical robot 100. In the operating room, the surgical robot 100 is moved to the surgical area according to the position of the patient's bed via the cooperation of the slider and the support rail 500. After the surgery, the surgical robot 100 is moved to a corner of the operating room via the cooperation of the slider and the support rail 500. The slider has a brake; when the surgical robot 100 moves along the support rail 500 to the desired position, the slider is locked by the brake, fixing the position of the surgical robot 100.

[0051] Optionally, the support rail 500 may be arranged parallel to the hospital bed, at a certain angle to the hospital bed, or in a curved shape. Of course, in other embodiments of the present invention, the support rail 500 may also be installed on the ground.

[0052] It is worth noting that, in addition to the aforementioned hospital bed, ceiling, and support rail 500, the installation position can also be a support platform or support frame located next to the hospital bed; a support for other surgeries; or other structures that can support the surgical robot 100.

[0053] See Figure 1 and Figure 3 In one embodiment, the support structure 110 includes a support base 111, a lifting member 112, and a mounting member 113. The lifting member 112 is disposed on one surface of the support base 111, and an adjustment robotic arm 120 is mounted on the top of the lifting member 112. The mounting member 113 is rotatably disposed on the surface of the support base 111 for mounting in a mounting position.

[0054] The support base 111 serves as the base for the surgical robot 100, and the lifting component 112 is vertically and vertically mounted on the support base 111. The mounting component 113 is mounted on the support base 111, and the support base 111 is mounted to its mounting position via the mounting component 113. (See also...) Figure 2 and Figure 5 When the support structure 110 is located at the bed 300, the support structure 110 is connected to the bed 300, and the mounting component 113 is located on the same side as the lifting component 112; see also Figures 6 to 8 When the support structure 110 is installed on the ceiling or the support rail 500 on the ceiling, the mounting part 113 is connected to the slider in the support rail 500 or the ceiling, and the mounting part 113 and the lifting part 112 are disposed on opposite sides of the support base 111.

[0055] The lifting component 112 is a height-adjustable structure, installed behind the support base 111. An adjustment robotic arm 120 is mounted at the end of the lifting component 112. Thus, the lifting component 112 can drive the adjustment robotic arm 120, the operating robotic arm 130, and the supporting structure 140 to perform lifting movements, adjusting the spatial height of the supporting structure 140 so that the adjustment mechanism is at a suitable height, thereby ensuring that the height of the supporting structure 140 meets the needs of surgery. Especially when the surgical robot 100 is suspended from the ceiling, the lifting component 112 can be flexibly adjusted to adapt to the height of the hospital bed.

[0056] Optionally, the lifting member 112 is a telescopic rod with damping. When medical personnel operate the lifting member 112 to raise or lower it to the required height, the damping effect can keep the lifting member 112 in the required position and prevent the position of the lifting member 112 from shifting. Of course, in other embodiments of the present invention, the lifting member 112 may also be a lifting motor or other structure capable of outputting lifting motion.

[0057] Optionally, the mounting component 113 is a flange. The mounting component 113 is installed into the mounting position by the flange and bolts. Of course, in other embodiments of the invention, the mounting component 113 can also be other structural forms capable of being fixed to the mounting position, such as a platform. Furthermore, the mounting component 113 is rotatably mounted on the support base 111, allowing adjustment of the spatial angle of the surgical robot 100, facilitating subsequent adjustments to the robotic arm 120 and the position of the support structure 140 by operating the robotic arm 130. Exemplarily, the mounting base and the mounting component 113 are connected by a hinge, and the rotation direction is constrained by set screws.

[0058] See Figure 1 and Figure 3 In one embodiment, the surgical robot 100 further includes a first disassembly structure 150, which is disposed on both the lifting component 112 and the support base 111, enabling rapid installation and disassembly of the lifting component 112 and the support base 111. With the first disassembly structure 150 in place, when the lifting component 112 is installed on the support base 111, the first disassembly structure 150 ensures rapid and reliable installation. When the lifting component 112 is disassembled from the support base 111, the lifting component 112 quickly detaches from the support base 111 via the first disassembly structure 150. This achieves rapid assembly of the surgical robot 100.

[0059] In one embodiment, the first disassembly structure 150 includes a second mounting part and a first mounting part. One of the second mounting part and the first mounting part is disposed on the lifting member 112, and the other is disposed on the support base 111. The lifting member 112 is detachably mounted on the support base 111 through the second mounting part and the first mounting part.

[0060] When the lifting component 112 is installed onto the support base 111, the second mounting part cooperates with the first mounting part to ensure that the lifting component 112 is reliably fixed and quickly installed onto the support base 111. When it is necessary to disassemble the lifting component 112, the second mounting part separates from the first mounting part, allowing the lifting component 112 to detach from the support base 111. The second mounting part and the first mounting part of this first disassembly structure 150 can be easily disassembled and installed.

[0061] Optionally, the second mounting part and the first mounting part have a rotation locking structure. For example, the second mounting part is a locking groove, and the first mounting part is a column with a locking pin in the radial direction. After the first mounting part is installed on the second mounting part, rotating the first mounting part will cause the locking pin of the first mounting part to lock on the edge of the second mounting part, thereby fixing the lifting member 112 to the support base 111.

[0062] Of course, in other embodiments of the present invention, the second mounting part and the first mounting part may also be bolt fixing structure, magnetic structure, snap-fit ​​structure or other structures that can reliably fix the lifting part 112 to the support base 111.

[0063] See Figure 1 and Figure 3 In one embodiment, the adjusting robotic arm 120 has at least four active rotating members 121 connected in series. After the active rotating members 121 are connected in series, their head ends are rotatably mounted on the lifting member 112, and their tail ends are rotatably connected to the operating robotic arm 130.

[0064] Each active rotating element 121 has a rotation axis and is capable of outputting rotational motion about its rotation axis. At least four active rotating elements 121 connected in series have at least four rotational degrees of freedom. The adjustment robotic arm 120 formed by the series-connected active rotating elements 121 includes a head end and a tail end. The head end is connected to the lifting element 112, and the tail end is connected to the operating robotic arm 130. Thus, after the active rotating elements 121 output rotational motion, they can drive the end-effector operating robotic arm 130 to move, thereby adjusting the spatial position of the support structure 140 on the operating robotic arm 130.

[0065] In this embodiment, the example is that there are four active rotating parts 121. When there are more active rotating parts 121, their connection method is essentially the same as the connection method of four active rotating parts 121, and will not be described in detail here.

[0066] The four active rotating components 121 are designated as a first active rotating component 122, a second active rotating component 123, a third active rotating component 124, and a fourth active rotating component 125. These four active rotating components 121 are connected in series. Specifically, the rotation output end of the first active rotating component 122 is connected to the lifting component 112 to rotate relative to it. The rotation output end of the second active rotating component 123 is connected to the first active rotating component 122 to rotate relative to it. The third active rotating component 124 is located at the end of the second active rotating component 123, and its rotation output end is connected to the fourth active rotating component 125. The rotation output end of the fourth active rotating component 125 is connected to the operating robotic arm 130, thereby enabling adjustment of the spatial position of the supporting structure 140.

[0067] The third active rotating member 124 is disposed at the end of the second active rotating member 123, that is, the third active rotating member 124 and the second active rotating member 123 form an integral structure. The two ends of this integral structure are rotation output ends, which are respectively connected to the first active rotating member 122 and the fourth active rotating member 125. Furthermore, the rotation axis of the first active rotating member 122 is arranged in the vertical direction, the rotation axis of the second active rotating member 123 is located in the horizontal plane and is parallel to the rotation axis of the first active rotating member 122, the rotation axis of the third active rotating member 124 is parallel to the rotation axis of the second active rotating member 123, and the rotation axis of the fourth active rotating member 125 is located in the horizontal plane and is perpendicular to the rotation axis of the third active rotating member 124.

[0068] In one embodiment, the active rotating member 121 includes a rotating link and a rotating joint 1211. The rotating joint 1211 is mounted on the rotating link, and the output end of the rotating joint 1211 is connected to the rotating link, the lifting member 112, or the operating robotic arm 130 of the adjacent active rotating member 121.

[0069] Rotary joint 1211 is a rotating component within active rotating member 121, capable of outputting rotational motion. The housing of rotary joint 1211 is mounted within a rotating link. Rotary joint 1211 in the first active rotating member 122 is connected to lifting member 112. The rotating link of the first active rotating member 122 is connected to rotary joint 1211 of the second active rotating member 123. The rotating link of the second active rotating member 123 is connected to the rotating link of the third active rotating member 124. Rotary joint 1211 of the third active rotating member 124 is connected to the rotating link of the fourth active rotating member 125. Rotary joint 1211 in the fourth active rotating member 125 is connected to the manipulating robotic arm 130. Rotary joint 1211 rotates around its axis of rotation to output rotational motion.

[0070] It is worth noting that the rotating linkages of different active rotating components 121 have different structural forms to adapt to the connected components and their positions. For example, as shown... Figure 3 As shown, the rotation joint 1211 of the first active rotating member 122 is located in the corresponding rotating link, and the output end of the rotation joint 1211 of the first active rotating member 122 is connected to the lifting member 112. The rotation joint 1211 of the second active rotating member 123 is located at one end of the corresponding rotating link and is connected to the rotating link of the first active rotating member 122.

[0071] The rotating link of the third active rotating member 124 is the same link as the rotating link of the second active rotating member 123. The rotating joint 1211 of the second active rotating member 123 and the rotating joint 1211 of the third active rotating member 124 are located at both ends of the same link. Alternatively, in other embodiments of the invention, the rotating link of the second active rotating member 123 is connected to the rotating link of the third active rotating member 124, such that the rotating joint 1211 of the second active rotating member 123 and the rotating joint 1211 of the third active rotating member 124 are located at opposite ends. The rotating joint 1211 of the fourth active rotating member 125 is located in the rotating link of the fourth active rotating member 125 and is connected to the operating robotic arm 130. This rotating link is connected to the rotating joint 1211 of the third active rotating member 124.

[0072] Of course, in other embodiments of the present invention, the first active rotating member 122, the second active rotating member 123, the third active rotating member 124 and the fourth active rotating member 125 may also be connected in series in the manner of connecting the rotating joint 1211 to the rotating link, or connected in other ways as required to meet the working conditions.

[0073] See Figure 1 and Figure 3 In one embodiment, the robotic arm 130 includes a first drive member 131, a second drive member 132, and a telecentric assembly 133. One end of the first drive member 131 is connected to an active rotating member 121, and the other end is connected to one end of the second drive member 132. The other end of the second drive member 132 is connected to a support structure 140 via the telecentric assembly 133. The first drive member 131 drives the second drive member 132, the telecentric assembly 133, and the support structure 140 to perform a deflection motion, while the second drive member 132 drives the telecentric assembly 133 and the support structure 140 to perform a pitching motion.

[0074] The first drive member 131 and the second drive member 132 are the power sources for operating the robotic arm 130. The first drive member 131 is installed on the rotation joint 1211 of the fourth active rotating member 121 at the end of the robotic arm 120. The output end of the first drive member 131 is connected to the second drive member 132, the output end of the second drive member 132 is connected to the telecentric assembly 133, and the end of the telecentric assembly 133 is connected to the bearing structure 140.

[0075] After the stamp card 600 is installed at the interface of the support structure 140, the rotation axis of the first drive member 131 intersects the stamp card 600 at a point, which is the telecentric point A. The first drive member 131 can output deflection motion. When the first drive member 131 outputs rotational motion, it can drive the second drive member 132 to rotate around the rotation axis of the first drive member 131. In turn, the second drive member 132 drives the telecentric assembly 133 and the support structure 140 to rotate. Figure 3 The second drive unit 132 can output pitch motion. When the second drive unit 132 outputs rotational motion, it can drive the telecentric component 133 to rotate around the rotation axis of the second drive unit 132, thereby causing the second drive unit 132 to carry the structure 140 to perform pitch motion.

[0076] In one embodiment, both the first driving member 131 and the second driving member 132 include a driving joint and a driving link. The driving joint is disposed on the driving link and is connected to the driving link of the second driving member 132 or the telecentric assembly 133. The active rotating member 121 is connected to the driving link of the first driving member 131. Specifically, the rotation joint 1211 of the fourth active rotating member 125 is connected to the driving link of the first driving member 131, the driving joint of the first driving member 131 is connected to the driving link of the second driving member 132, and the driving joint of the second driving member 132 is connected to the telecentric assembly 133.

[0077] See Figure 1 , Figure 3 and Figure 9 In one embodiment, the telecentric component 133 includes a first transmission member 1331, a second transmission member 1332, and a third transmission member 1333. The first transmission member 1331 connects the drive joint in the second drive member 132 to the second transmission member 1332, and the third transmission member 1333 connects the second transmission member 1332 to the load-bearing structure 140. The first transmission member 1331 and the third transmission member 1333 are parallel.

[0078] One end of the first transmission member 1331 is connected to the drive joint of the second drive member 132, and the other end of the first transmission member 1331 is connected to one end of the second transmission member 1332. The other end of the second transmission member 1332 is connected to one end of the third transmission member 1333, and the other end of the third transmission member 1333 is connected to the load-bearing structure 140. After the second transmission member 1332 connects the first transmission member 1331 and the third transmission member 1333, the first transmission member 1331 and the second transmission member 1332 are arranged in parallel, so that the first transmission member 1331, the second transmission member 1332 and the third transmission member 1333 form a parallelogram.

[0079] Specifically, after the extended line of the rotation axis of the first driving member 131 intersects the axis of the stamp card 600 at a point, the axes of the first transmission member 1331, the second transmission member 1332, and the third transmission member 1333 are sequentially connected on the plane formed by this intersection line. The axis of the third transmission member 1333 is then connected to the centroid point A, resulting in a parallelogram. Figure 3 The area shown is marked with a dashed line. Furthermore, when the first driving member 131 and the second driving member 132 drive the telecentric assembly 133 to move, the telecentric assembly 133 always maintains a parallelogram shape.

[0080] See Figure 9 In one embodiment, the first transmission member 1331 includes a first connecting rod 13313, a first synchronous belt group 13311, and a first support shaft 13312; the second transmission member 1332 includes a second connecting rod 13323, a second synchronous belt group 13321, and a second support shaft 13322; and the third transmission member 1333 includes a third connecting rod 13332, a third synchronous belt group 13331, and a third support shaft. The first synchronous belt group 13311 is disposed in the first connecting rod 13313 along the length direction of the first connecting rod 13313. One end of the first synchronous belt group 13311 is connected to the drive joint, and the other end of the first synchronous belt group 13311 is installed on the first support shaft 13312. The second synchronous belt group 13321 is disposed in the second connecting rod 13323 along the length direction of the second connecting rod 13323. One end of the second synchronous belt group 13321 is disposed on the first support shaft 13312, and the other end of the second synchronous belt group 13321 is installed on the second support shaft 13322. The third synchronous belt group 13331 is disposed in the third connecting rod 13332 along the length direction of the third connecting rod 13332. One end of the third synchronous belt group 13331 is installed on the second support shaft 13322, and the other end of the third synchronous belt group 13331 is installed on the third support shaft. The third support shaft is connected to the load-bearing structure 140.

[0081] The first synchronous belt group 13311, the second synchronous belt group 13321, and the third synchronous belt group 13331 each include a synchronous belt and three pulleys. Two of the three pulleys are coaxially fixed and located at the input end of the synchronous belt, while the other pulley is located at the output end of the synchronous belt.

[0082] By placing two pulleys at one end of the timing belt, the relative rotational misalignment of the two pulleys allows for pre-tensioning of the timing belt. After pre-tensioning, the belt is locked with screws to maintain the pre-tension force. Of course, in other embodiments of the invention, the first timing belt group 13311, the second timing belt group 13321, and the third timing belt group 13331 may each include a timing belt and two pulleys, with the two pulleys positioned at both ends of the timing belt.

[0083] The first synchronous belt group 13311 and the second synchronous belt group 13321 are connected by a first support shaft 13312. The second synchronous belt group 13321 and the third synchronous belt group 13331 are connected by a second support shaft 13322. The third synchronous belt group 13331 is connected to the load-bearing structure 140 by a third support shaft. Furthermore, the first connecting rod 13313 serves as the housing for the first synchronous belt group 13311, the second connecting rod 13323 serves as the housing for the second synchronous belt group 13321, and the third connecting rod 13332 serves as the housing for the third synchronous belt group 13331.

[0084] The drive joint of the second drive member 132 is connected to the pulley (input end) of the first synchronous belt group 13311. The other pulley (output end) of the first synchronous belt group 13311 is mounted on the first support shaft 13312 and connected to the pulley (input end) of the second synchronous belt group 13321 through the first support shaft 13312. The other pulley (output end) of the second synchronous belt group 13321 is connected to the pulley (input end) of the third synchronous belt group 13331 through the second support shaft 13322. The other pulley (output end) of the third synchronous belt group 13331 is connected to the bearing structure 140 through the third transmission shaft.

[0085] The first transmission component 1331, the second transmission component 1332, and the third transmission component 1333 form a parallelogram-shaped transmission structure, the transmission structure and principle of which are as follows: Figure 9As shown in the figure, the first link 13313, the second link 13323, and the third link 13332 are hidden and replaced by the center line. When the second drive member 132 drives the pulley at the input end of the first synchronous belt group 13311 to rotate clockwise by an angle, the output pulley of the first synchronous belt group 13311 is driven to rotate clockwise by the same angle through the synchronous belt, and at the same time, the second link 13323, which is fixed to it, is driven to rotate by the same angle. The input end of the second synchronous belt group 13321 is fixed to the first link 13313 through the first support shaft 13312. The first link 13313 remains stationary during the parallelogram pitch motion, so the second synchronous belt group 13321 remains stationary. The second synchronous belt group 13321 is connected to the output pulley via the input pulley and synchronous belt. When the input pulley of the second synchronous belt group 13321 is stationary and the second connecting rod 13323 rotates clockwise, the output pulley of the second synchronous belt group 13321 rotates counterclockwise by the same angle, causing the third connecting rod 13332, which is fixed to it, to rotate counterclockwise by the same angle. At this time, the first connecting rod 13313 and the third connecting rod 13332 are still parallel.

[0086] The third synchronous belt group 13331 is connected by a pulley at the input end, a synchronous belt, and a pulley at the output end. The pulley at the input end of the third synchronous belt group 13331 is fixed to the second connecting rod 13323 via the second support shaft 13322. When the third connecting rod 13332 rotates counterclockwise relative to the second connecting rod 13323, the pulley at the input end of the third synchronous belt group 13331 remains stationary relative to the second connecting rod 13323. The pulley at the output end of the third synchronous belt group 13331 will rotate clockwise by the same angle under the synchronous belt drive, causing the bearing structure 140 fixed to it to rotate clockwise by the same angle. At this time, the bearing structure 140 and the second connecting rod 13323 remain parallel. In other words, when the second driving member 132 drives the telecentric assembly 133 to perform pitch motion, the passive joint of the synchronous belt drive always maintains a parallelogram shape, the position of the telecentric point A remains unchanged, and it always coincides with the axis of the deflection joint. This is the principle of the parallelogram keeping the telecentric point A stationary.

[0087] Optionally, the timing belt is a steel belt or a rubber belt. Of course, in other embodiments of the present invention, the first transmission member 1331, the second transmission member 1332, and the third transmission member 1333 may also be a chain drive structure or other structures capable of motion transmission.

[0088] See Figure 1 and Figure 4In one embodiment, both the rotary joint 1211 and the drive joint include a rotary motor 12111, a driver 12112, a brake 12113, a reducer 12114, an output flange 12115, and an encoder 12116. The rotary motor 12111 is electrically connected to the driver 12112, and the encoder 12116 is electrically connected to the driver 12112. The reducer 12114 and the output flange 12115 are installed at the output end of the rotary motor 12111, and the brake 12113 is installed at the other end of the rotary motor 12111. The output flange 12115 is connected to the rotary linkage of the adjacent active rotary member 121, the lifting member 112, or the operating robotic arm 130.

[0089] like Figure 4 As shown, a brake 12113 is mounted above the rotary motor 12111, and an encoder 12116 and a driver 12112 are mounted above the brake 12113. A reducer 12114 and an output flange 12115 are mounted at the output end below the rotary motor 12111. The driver 12112 is connected to the control console of the surgical system. The control console sends a drive signal to the driver 12112, which controls the rotary motor 12111 to rotate. The rotary motor 12111 is reduced in speed by the reducer 12114 and then outputs rotational motion through the output flange 12115. The encoder 12116 can detect the rotation angle output by the rotary motor 12111 and feed it back to the driver 12112. If the rotation angle of the rotary motor 12111 matches the rotation angle signal in the driver 12112, the driver 12112 controls the rotary motor 12111 to stop and applies a brake to lock it in place, ensuring accurate positioning. If the rotation angle of the rotary motor 12111 does not reach the rotation angle signal in the driver 12112, the driver 12112 controls the rotary motor 12111 to continue rotating. This ensures the accuracy of the rotation angle of the rotary motor 12111, thereby enabling accurate adjustment of the spatial orientation of the supporting structure 140.

[0090] Furthermore, the rotary joints 1211 in at least four active rotating components 121 of the adjusting robotic arm 120, as well as the drive joints in the first drive component 131 and the second drive component 132, all have the aforementioned structure. During movement, the rotary joints 1211 and the drive joints ensure the accurate motion trajectory of the adjusting robotic arm 120 and the operating robotic arm 130, thereby ensuring the accurate motion trajectory of the bearing structure 140. Moreover, the central axis of the rotary motor 12111 coincides with the rotation axes of the rotary joints 1211 and the drive joints. The housing of the reducer 12114 is fixed to the corresponding connecting rod using threaded parts. Optionally, the reducer 12114 is a planetary reducer, a harmonic reducer, or other types of reducers.

[0091] Furthermore, there are two encoders 12116. One of the two encoders 12116 can detect the rotation angle of the rotary motor 12111, and the other encoder 12116 verifies the first encoder 12116 to ensure the accuracy of the rotation angle detection. Of course, in other embodiments of the present invention, there may be only one encoder. Optionally, the rotary motor 12111 is a torque motor. The rotary motor 12111 is installed in the corresponding connecting rod.

[0092] See Figure 1 and Figure 3 In one embodiment, the surgical robot 100 further includes a second disassembly structure 160. The second disassembly structure 160 is separately disposed on the rotating link of the fourth active rotating member 121 at the end of the adjusting robotic arm 120 and the first driving link of the first driving member 131, enabling rapid installation and disassembly of the rotating link and the driving link. With the second disassembly structure 160 in place, when the operating robotic arm 130 is installed onto the adjusting robotic arm 120, the second disassembly structure 160 enables the operating robotic arm 130 to be quickly and reliably installed onto the end of the adjusting robotic arm 120. When the operating robotic arm 130 is disassembled from the adjusting robotic arm 120, the operating robotic arm 130 quickly detaches from the adjusting robotic arm 120 via the second disassembly structure 160. This achieves rapid assembly of the surgical robot 100.

[0093] In one embodiment, the second disassembly structure 160 includes a fourth mounting portion and a third mounting portion. One of the fourth mounting portion and the third mounting portion is disposed at the end of the active rotating member 121 connected in series, and the other is disposed on the drive link of the second driving member 132. The active rotating member 121 is detachably mounted to the drive link through the fourth mounting portion and the third mounting portion.

[0094] When the drive link is installed onto the rotating link, the fourth mounting part and the third mounting part cooperate to ensure reliable fixation of the drive link and quick installation onto the rotating link. When it is necessary to disassemble the drive link, the fourth mounting part and the third mounting part separate, allowing the drive link to detach from the rotating link. The fourth mounting part and the third mounting part of this second disassembly structure 160 can be easily disassembled and installed.

[0095] Optionally, the fourth mounting part and the third mounting part are a rotary locking structure. For example, the fourth mounting part is a locking groove, and the third mounting part is a column with a locking pin in the radial direction. After the third mounting part is installed on the fourth mounting part, rotating the third mounting part will cause the locking pin of the third mounting part to lock into the edge of the fourth mounting part, thereby fixing the drive link to the drive link.

[0096] Furthermore, the second disassembly structure 160 has an electrical interface, which allows for electrical disconnection and connection between the adjustment robotic arm 120 and the operation robotic arm 130 during disassembly and installation. Of course, in other embodiments of the invention, the fourth mounting part and the third mounting part can also be bolt-fixed structures, magnetic structures, snap-fit ​​structures, or other structures capable of reliably fixing the drive link to the rotating link.

[0097] See Figure 1 , Figure 3 and Figure 9 In one embodiment, the support structure 140 includes a linear motion assembly 141 and a support member 142. The support member 142 is connected to the end of the operating robotic arm 130. The linear motion assembly 141 is disposed on the support member 142 and carries the operating instrument. The support member 143 has a mating interface. The puncture card 600 is typically placed on the patient's body surface. When the operating robotic arm 130 moves to the lesion site of the patient, the mating interface of the support member 142 is aligned with the puncture card 600, and the puncture card 600 is connected to the support member 142. Subsequently, the operating instrument is installed onto the linear motion assembly 141 and extends through the puncture card 600.

[0098] Linear motion component 141 is the main component of support structure 140, and support member 142 is the mounting base of support structure 140. Linear motion component 141 is disposed on support member 142, and support member 142 is connected to the third support shaft of telecentric component 133 away from the surface of linear motion component 141. That is, linear motion component 141 is disposed on one surface of support member 142, and the third support shaft is disposed on the other surface of support member 142. In this way, telecentric component 133 can drive support structure 140 to move synchronously through support member 142. The linear end of linear motion component 141 is connected to operating instrument, driving operating instrument to move. Support member 142 has a mating interface for detachably installing stamp card 600. After stamp card 600 is installed into the mating interface, it is located on the extension line of the rotation axis of first drive member 131.

[0099] After the stamp card 600 is installed into the interface, the operating instrument connects to the linear motion component 141 and extends through the stamp card 600. For example... Figure 3 As shown, the surgical instrument supported by the support structure 140 can be a surgical instrument 200. The surgical instrument 200 includes an operating end 210, a power box 230, a power rod 220, and an end effector 240. The operating end 210 and the end effector 240 are respectively disposed at both ends of the power rod 220. The power box 230 is disposed on the power rod 220 and abuts against the operating end 210. The power box 230 drives the operating end 210 to move and controls the movement of the end effector 240 to perform surgical operations.

[0100] Optionally, the linear motion assembly 141 is a drive motor that works with a lead screw and nut, gears, or other components capable of outputting linear motion. Optionally, the carrier 142 is a carrier housing with a linear groove. The linear end extends through the linear groove and connects to the end effector 240. In this way, the linear motion assembly 141 outputs linear motion through the linear end and moves along the linear groove, thereby moving the operating instrument. The working principle of the lead screw and nut is not described in detail here.

[0101] See Figures 1 to 9 In this embodiment, the surgical robot 100 has an operating robotic arm 130 and an adjusting robotic arm 120 as its main structures. The adjusting robotic arm 120 has four active rotating components 121 connected in series. The first end of the series connection is connected to the lifting component 112, and the last end is connected to the first drive component 131 of the operating robotic arm 130. The four active rotating components 121 output rotational motion through their rotary joints 1211. The operating robotic arm 130 transmits motion through the first drive component 131, the second drive component 132, and the telecentric assembly 133. The first drive component 131 outputs deflection motion, the second drive component 132 outputs pitch motion, and the telecentric assembly 133 uses a synchronous belt structure to transmit motion while keeping the position of the telecentric point A unchanged.

[0102] The robotic arm 120 is adjusted to move the operating robotic arm 130 to a suitable surgical position. The operating robotic arm 130 maintains the position of the telecentric point A using a parallelogram mechanism, and is driven by the first drive component 131 and the second drive component 132 to achieve the deflection and pitch movements during surgery. During surgery, the robotic platform can be mounted on the side of the hospital bed. Figure 2 As shown. The robot platform can be installed on the hospital bed via mounting component 113. After the puncture card 600 is installed on the body surface corresponding to the lesion site, the robotic arm 120 is adjusted to mate the interface of the operating robotic arm 130 with the puncture card 600 through the movement of the four active rotating components 121; after matetization, the robotic arm 120 is locked in position by a brake. The rotation of the drive component causes the operating robotic arm 130 and the supporting structure 140 to drive the operating instrument to achieve a deflection action; the rotation of the second drive component 132 causes the parallelogram-shaped telecentric component 133 to drive the supporting structure 140 and the operating instrument to achieve a pitch action; the linear motion component 141 drives the power box 230 to move, realizing the extension and retraction of the operating instrument. Through the functional separation structure, the safety and reliability of the robot system can be effectively improved.

[0103] The surgical robot 100 of this invention can be quickly installed on a hospital bed or mounted on the ceiling, allowing for flexible and free arrangement according to the needs of medical staff and the space of the operating room. Furthermore, the lifting component 112 is supported by a support structure 110, an adjustment robotic arm 120 is mounted to the lifting component 112, and an operating robotic arm 130 is mounted to the adjustment robotic arm 120. The operating robotic arm 130 carries the operating instruments, and in conjunction with the first disassembly structure 150 and the second disassembly structure 160, a modular platform surgical robot 100 is formed. This surgical robot 100 adopts a modular design, resulting in a simple structure with good rigidity. Moreover, the functional separation of each structure ensures the safety and reliability of the surgical robot 100, guaranteeing its performance.

[0104] The present invention also provides a surgical system, including a console, a hospital bed 300, and at least one surgical robot 100 according to any of the above embodiments. The hospital bed 300 carries a patient, and at least one surgical robot 100 is disposed in a mounting position. The console is electrically connected to the surgical robot 100 and controls the surgical robot 100 to perform surgery on the patient. When the surgical system of the present invention uses the surgical robot 100 of the above embodiments, the installation position of the surgical robot 100 is highly flexible and can meet the usage requirements of the surgical system.

[0105] For example, the surgical system employs three surgical robots 100, and the three surgical robots 100 are mounted on the hospital bed, such as... Figure 5 As shown, three surgical robots 100 are positioned beside the hospital bed. During deployment, the pre-installed support base 111 under the bed is first rotated to extend beyond the edge of the bed and manually locked. Then, the adjusting robotic arm 120 is connected to the support base 111 via the lifting component 112 (first quick-release structure), and the lifting rod is manually adjusted to an appropriate height. Next, the operating robotic arm 130 is structurally and electrically connected to the adjusting robotic arm 120 (second quick-release structure). At this point, the surgical robots 100 are ready to be in place. An endoscope system is installed in the first surgical robot 100 to provide an intraoperative view. Surgical instruments 200 are installed in the second and third surgical robots 100, corresponding one-to-one with the left and right master hands of the control console, forming a master-slave mapping. When the surgeon operates the master hand of the control console, the surgical robot 100, in conjunction with the operating instruments, will complete the corresponding surgical actions.

[0106] like Figure 6 and 7 The diagram shows the hoisting and installation schematic of the surgical robot 100. Three surgical robots 100 are fixed to the ceiling via corresponding mounting brackets 113. The corresponding surgical robot 100 platforms can be hoisted above the hospital bed. The three surgical robots 100 are spaced apart and work together to perform surgery. Furthermore, the instruments held by the three surgical robots 100 and the control methods are essentially the same as in the above embodiments and will not be described in detail here.

[0107] Of course, in other embodiments of the present invention, the surgical system may also employ one, two or even more surgical robots 100 to perform surgical operations.

[0108] 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.

[0109] 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 surgical robot (100), characterized in that, include: A support structure (110) is provided for mounting the surgical robot (100) in a mounting position; Adjust the robotic arm (120) and set it on the support structure (110); Operate the robotic arm (130), which is located on the adjustment robotic arm (120); as well as A support structure (140) is provided on the operating robotic arm (130) for supporting the operating instrument; The adjustment robotic arm drives the operation robotic arm (130) and the bearing structure (140) to move to adjust the spatial position of the bearing structure (140), and the operation robotic arm (130) drives the bearing structure (140) to move to adjust the pitch angle and yaw angle of the bearing structure (140). The support structure (110) includes a lifting component (112), and the adjusting robotic arm (120) has at least four active rotating components (121). The at least four active rotating components (121) are connected in series. After the active rotating components (121) are connected in series, their heads are rotatably mounted on the lifting component (112), and their tails are rotatably connected to the operating robotic arm (130). The robotic arm (130) includes a first drive member (131), a second drive member (132), and a telecentric assembly (133). One end of the first drive member (131) is connected to the active rotating member (121), and the other end is connected to one end of the second drive member (132). The other end of the second drive member (132) is connected to the bearing structure (140) through the telecentric assembly (133). The first drive member (131) drives the second drive member (132) to cause the telecentric assembly (133) and the bearing structure (140) to perform deflection motion. The second drive member (132) causes the telecentric assembly (133) and the bearing structure (140) to perform pitch motion. The rotation axis of the first drive member (131) intersects the card (600) at the telecentric point A. The telecentric component (133) includes a first transmission member (1331), a second transmission member (1332), and a third transmission member (1333). The first transmission member (1331) connects the drive joint in the second drive member (132) to the second transmission member (1332), and the third transmission member (1333) connects the second transmission member (1332) to the bearing structure (140). The first transmission member (1331) and the third transmission member (1333) are parallel. On the plane formed by the intersection of the rotation axis of the first drive member (131) and the telecentric point A, the axis of the first transmission member (1331), the axis of the second transmission member (1332), and the axis of the third transmission member (1333) are connected in sequence, and the center of the third transmission member (1333) is connected to the telecentric point A. The resulting shape is a parallelogram. The surgical robot (100) also includes a second disassembly structure (160), which includes a fourth mounting part and a third mounting part that are detachably connected. One of the fourth mounting part and the third mounting part is located at the end of each of the active rotating parts (121) connected in series, and the other is located at the first driving part (131).

2. The surgical robot (100) according to claim 1, characterized in that, The support structure (110) includes a support base (111), a mounting component (113), and a first disassembly structure (150). The lifting component (112) is disposed on one surface of the support base (111), and the adjusting mechanical arm (120) is mounted on the top of the lifting component (112). The mounting component (113) is rotatably disposed on the surface of the support base (111) for mounting at the mounting position. The first disassembly structure (150) can detachably connect the support base (111) and the lifting component (112).

3. The surgical robot (100) according to claim 2, characterized in that, The active rotating component (121) includes a rotating link and a rotating joint (1211). The rotating joint (1211) is mounted on the rotating link, and the output end of the rotating joint (1211) is connected to the rotating link, the lifting component (112), or the operating robotic arm (130) adjacent to the active rotating component (121).

4. The surgical robot (100) according to claim 3, characterized in that, Both the first driving member (131) and the second driving member (132) include a driving joint and a driving link; The rotary joint (1211) and the drive joint each include a rotary motor (12111), a driver (12112), a brake (12113), a reducer (12114), an output flange (12115), and an encoder (12116). The rotary motor (12111) is electrically connected to the driver (12112), and the encoder (12116) is electrically connected to the driver (12112). The reducer (12114) and the output flange (12115) are installed at the output end of the rotary motor (12111), and the brake (12113) is installed at the other end of the rotary motor (12111). The output flange (12115) is connected to the rotary linkage, the lifting member (112), or the operating robotic arm (130) adjacent to the active rotating member (121).

5. The surgical robot (100) according to any one of claims 1 to 4, characterized in that, The support structure (140) includes a linear motion component (141) and a support member (142). The support member (142) is connected to the end of the operating robotic arm (130). The linear motion component (141) is disposed on the support member (142) and carries the operating device. The detachable card (600) is disposed on the support member (142) for supporting and fixing the operating device.

6. The surgical robot (100) according to any one of claims 1 to 4, characterized in that, The installation location is a hospital bed, ceiling, floor, support platform, or support rail (500).

7. A surgical system, characterized in that, The device includes a console and at least one surgical robot (100) as described in any one of claims 1 to 6, wherein at least one surgical robot (100) is disposed in a mounting position, and the console is electrically connected to the surgical robot (100) to control the surgical robot (100) to perform surgery on the patient.

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