A single-hole minimally invasive surgical robot surgical execution arm suspension structure

Abstract

The application discloses a surgical execution arm suspension layout structure of a single-hole minimally invasive surgical robot, which comprises a horizontal position adjusting arm, a posture adjusting arm, a surgical execution arm platform, a surgical execution arm guide tube and the like; the horizontal position adjusting arm is installed on a top platform, and the posture adjusting arm is installed on the horizontal position adjusting arm; the surgical execution arm platform and the surgical execution arm guide tube are installed on the posture adjusting arm, and a surgical execution arm telescopic module is installed on the surgical execution arm platform; the surgical execution arm telescopic module comprises a surgical execution arm telescopic track and a surgical execution arm driving box connecting seat, the surgical execution arm driving box connecting seat is used for installing the surgical execution arm and providing driving force for the action of the surgical execution arm; the horizontal position adjusting arm and a stand column can be adjusted to realize the rapid positioning of the surgical execution arm into a wound position; on the basis, the posture adjusting arm can be adjusted to realize the rotation of a surgical instrument arm rod around the wound position, and finally the surgical instrument arm rod is stretched into the wound at a suitable angle and reaches a lesion.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of minimally invasive surgical robot technology, in particular to a surgical execution arm suspension layout structure of a single-hole minimally invasive surgical robot. BACKGROUND

[0002] Minimally invasive surgery refers to the operation of a surgeon using a long surgical tool to explore the body through a small incision on the surface of the body; compared with traditional open surgery, it has the advantages of small incision, less bleeding, small postoperative scar and fast recovery, which greatly reduces the pain suffered by the patient.

[0003] Minimally invasive surgery can bring many benefits to patients, but it increases a series of difficulties for the operation of the doctor, and the doctor must undergo long-term training to be able to perform minimally invasive surgery, and the surgical robot system can assist the doctor and expand the doctor's ability, making the operation more flexible, safe and reliable, and helping to reduce the risk of surgery.

[0004] Minimally invasive surgical robots belong to high-end precision medical equipment with high-tech intensive, and the existing minimally invasive surgical robots still have some defects in the flexibility of the overall structure layout and the efficiency of preoperative and intraoperative surgical instrument planning and arrangement. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art, and provide a surgical execution arm suspension layout structure of a single-hole minimally invasive surgical robot, which expands the distribution range of the surgical opening position on the patient's body, realizes the rapid arrival of the surgical instrument at the target position of the patient's surgical wound at the best position and angle, and improves the efficiency and safety of preoperative and intraoperative surgical instrument adjustment.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] The present application discloses a surgical execution arm suspension layout structure of a single-hole minimally invasive surgical robot, which comprises a support device, a horizontal position adjusting arm, a posture adjusting arm, a surgical execution arm platform, a surgical execution arm guide pipe and a surgical execution arm telescopic module; the horizontal position adjusting arm is installed on the top platform at the top end of the column, and the posture adjusting arm is installed on the horizontal position adjusting arm; the surgical execution arm platform and the surgical execution arm guide pipe are installed on the posture adjusting arm, and the surgical execution arm telescopic module is installed on the surgical execution arm platform; the surgical execution arm telescopic module is provided with a plurality of surgical execution arm telescopic rails and a surgical execution arm driving box connecting seat, and the surgical execution arm driving box connecting seat is used for installing the surgical execution arm and providing driving force for the action of the surgical execution arm.

[0008] The support device comprises a base, a stand and a top platform; the upper end of the stand is connected with the top platform and can move vertically along a first moving joint axis, and the lower end is fixed vertically on the base;

[0009] Further, the top platform can rotate horizontally around a first rotating joint axis relative to the stand.

[0010] Further, the horizontal position adjusting arm comprises horizontal position adjusting arm I and horizontal position adjusting arm II, which are connected horizontally through a second rotating joint; the other end of the horizontal position adjusting arm I is fixedly connected with the top platform.

[0011] Further, the posture adjusting arm comprises posture adjusting arm I, posture adjusting arm II and posture adjusting arm III.

[0012] Further, the posture adjusting arm I is connected with the horizontal position adjusting arm II through a third rotating joint, and the third rotating joint axis and the second rotating joint axis are both vertical.

[0013] Further, a light beam emitting device is installed at the third rotating joint of the posture adjusting arm I, the light beam coincides with the third rotating joint axis and is vertically downward from the third rotating joint, which is used for preoperative arrangement and positioning of a surgical mechanical arm.

[0014] Further, the posture adjusting arm I is connected with the posture adjusting arm II through a circular arc track, and the posture adjusting arm II presents a rotating arc line around a fourth rotating joint axis along the track of the circular arc track of the posture adjusting arm I.

[0015] Further, the fourth rotating joint axis and the third rotating joint axis are perpendicular and intersect at a point.

[0016] Further, the posture adjusting arm III is connected with the posture adjusting arm II through a fifth rotating joint; the fifth rotating joint axis and the fourth rotating joint axis are perpendicular and intersect at a point, and coincide with the intersection point of the fourth rotating joint axis and the third rotating joint axis.

[0017] Further, the surgical execution arm platform is connected with the posture adjusting arm III through a sixth rotating joint; the sixth rotating joint axis and the fourth rotating joint axis are perpendicular and intersect at a point, and coincide with the intersection point of the fourth rotating joint axis and the third rotating joint axis.

[0018] Further, the third, fourth, fifth and sixth rotational joint axes intersect at a point, and the movement of the three posture adjustment arms is always centered on this intersection point, and the spatial position of the intersection point depends on the position of the top platform and the horizontal position adjustment arm.

[0019] Further, the surgical execution arm guide tube is mounted at the end of the posture adjustment arm III, and the axis coincides with the sixth rotational joint axis.

[0020] Further, a plurality of surgical execution arm telescopic modules are evenly mounted around the sixth rotational joint axis on the surgical execution arm platform.

[0021] Further, the surgical execution arm drive box connecting seat can slide linearly along the surgical execution arm telescopic rail; the surgical execution arm drive box connecting seat provides a quick mounting docking interface for the surgical execution arm and a movement driving power output interface for the surgical execution arm; the arrangement of the surgical execution arm drive box can make the connected surgical execution arm smoothly pass through the surgical execution arm guide tube.

[0022] The present application has the following advantages:

[0023] The surgical execution arm suspension layout structure of the single-hole minimally invasive surgical robot provided by the present application has a large enough movement range for the lifting movement of the surgical robot stand and the horizontal rotation movement of the horizontal position adjustment arm, and can realize the rapid positioning of the surgical execution arm to the wound position. On this basis, adjusting the posture adjustment arm can realize the omnidirectional rotation of the surgical execution arm around the wound position, and finally extend into the wound at a suitable angle, and meet the non-invasive adjustment of the surgical execution arm around the wound position during the operation without causing secondary injury. The present application provides a mechanical arm layout structure of a minimally invasive surgical robot with high applicability, high flexibility and high stability, and the use of the layout structure helps to realize the extension of the surgical instrument into the surgical wound at the best position and angle and reach the lesion, and meet the non-invasive adjustment during the operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] The following drawings are provided to more clearly introduce the technical solutions in the embodiments of the present application or the prior art, enhance the further understanding of the present application, and the schematic examples of the present application and their descriptions do not constitute a limitation of the present application.

[0025] Figure 1 The installation layout schematic diagram of the surgical execution arm suspension layout structure of the single-hole minimally invasive surgical robot disclosed in the embodiments of the present application in a certain working state is shown in the following figure.

[0026] Figure 2 The partial structure schematic diagram of the single-hole minimally invasive surgical robot disclosed in the embodiments of the present application is shown in the following figure. Figure 1

[0027] ​Figure 3 is a local structure schematic diagram of Figure 1

[0028] Figure 4 is a whole structure schematic diagram of the present application;

[0029] Wherein, 1. base, 2. stand column, 2_1. stand column fixed section, 2_2. stand column lifting section, 3. top platform, 4. horizontal position adjusting arm I, 5. horizontal position adjusting arm II, 6. attitude adjusting arm I, 7. attitude adjusting arm II, 8. attitude adjusting arm III, 9. surgical execution arm platform, 10. surgical execution arm guide tube, 11. surgical execution arm telescopic module I, 11_1. surgical execution arm telescopic track, 11_2. surgical execution arm drive box connecting seat, 12. surgical execution arm telescopic module II, 12_1. surgical execution arm telescopic track, 12_2. surgical execution arm drive box connecting seat, 13. surgical execution arm telescopic module III, 13_1. surgical execution arm telescopic track, 13_2. surgical execution arm drive box connecting seat, 14. surgical execution arm telescopic module IV, 14_1. surgical execution arm telescopic track, 14_2. surgical execution arm drive box connecting seat. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be noted that the drawings and the descriptions made are all exemplary, and the terms used are only used to describe the specific embodiments and are not intended to limit the example embodiments according to the present application.

[0031] For the convenience of description, if the words such as "up", "down", "left", "right", "front", "back", "clockwise", "counterclockwise" and the like appear in the present application, they only indicate the direction or angle consistent with the drawing itself, and do not limit the structure, but only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0032] The present embodiment discloses a single-hole minimally invasive surgical robot surgical execution arm suspension layout structure in a certain working state, as shown in the figure, Figures 1-4 ​As shown, it includes base 1, column 2, column fixed section 2_1, column lifting section 2_2, top platform 3, horizontal position adjusting arm I 4, horizontal position adjusting arm II 5, attitude adjusting arm I 6, attitude adjusting arm II 7, attitude adjusting arm III 8, surgical execution arm platform 9, surgical execution arm guide tube 10, surgical execution arm telescopic module I 11, surgical execution arm telescopic track 11_1, surgical execution arm drive box connecting seat 11_2, surgical execution arm telescopic module II 12, surgical execution arm telescopic track 12_1, surgical execution arm drive box connecting seat 12_2, surgical execution arm telescopic module III 13, surgical execution arm telescopic track 13_1, surgical execution arm drive box connecting seat 13_2, surgical execution arm telescopic module IV 14, surgical execution arm telescopic track 14_1, surgical execution arm drive box connecting seat 14_2.

[0033] Further need to be explained is that in actual application, the surgical execution arm telescopic module can use several of the four according to actual situation, three surgical execution arm telescopic modules are used in the embodiment, two of which are used for installing the surgical execution arm of the end configuration operating instrument, and one is used for installing the surgical execution arm of the end configuration endoscope.

[0034] The following will be described in detail each structure above:

[0035] The base 1 is used for fixing and supporting the whole robot structure; the column 2 is a liftable column, and the liftable end is connected with the top platform 3 to adjust the height of the top platform 3; specifically, the column 2 includes a column fixed section 2_1 and a column lifting section 2_2, the column fixed section 2_1 is fixedly connected with the base 1, and the column lifting section 2_2 is fixedly connected with the top platform 3 through a moving joint.

[0036] Further, in the embodiment, when the column lifting section 2_2 is vertically lifted to the target height, the corresponding moving joint can be locked to maintain the overall height of the surgical robot unchanged.

[0037] Further, the top platform 3 is fixedly connected with one end of the horizontal position adjusting arm I 4, and can rotate relative to the column 2 in the horizontal direction around the first rotating joint axis.

[0038] Further, the horizontal position adjusting arm I 4 and the horizontal position adjusting arm II 5 are connected through a second rotating joint; the attitude adjusting arm I 6 is connected with the horizontal position adjusting arm II 5 through a third rotating joint, and the third rotating joint axis and the second rotating joint axis are both in vertical direction.

[0039] Further, a light beam emitting device is installed at the third rotary joint of the posture adjusting arm I, and the light beam coincides with the axis of the third rotary joint and is vertically downward from the third rotary joint.

[0040] Further, the positions of the horizontal position adjusting arm I 4 and the horizontal position adjusting arm II 5 are adjusted so that the light beam emitted along the axis of the third rotary joint is directly opposite the patient's wound, and the rotation of the first rotary joint and the second rotary joint is locked.

[0041] Further, the posture adjusting arm II 7 can move along the circular arc track of the posture adjusting arm I 6, and the center of the movement track is on the axis of the third rotary joint.

[0042] Further, the posture adjusting arm III 8 is connected with the posture adjusting arm II 7 through the fifth rotary joint, and the intersection of the axis of the fifth rotary joint and the axis of the third rotary joint coincides with the center of the movement track of the posture adjusting arm II 7.

[0043] Further, the surgery execution arm platform 9 is connected with the posture adjusting arm III 8 through the sixth rotary joint, and the intersection of the axis of the sixth rotary joint and the axis of the fifth rotary joint coincides with the center of the movement track of the posture adjusting arm II 7.

[0044] Further, the surgery execution arm guide tube 10 is installed at the end of the posture adjusting arm III 8, and the axis coincides with the axis of the sixth rotary joint.

[0045] Further, the posture adjusting arm II 7 is adjusted to be in the middle position of the circular arc track of the posture adjusting arm I 6, and the position is locked.

[0046] Further, the posture adjusting arm I 6 and the posture adjusting arm III 8 are adjusted so that the surgery execution arm guide tube 10 is directed to the patient's wound at a suitable orientation and angle, and the rotation of the third rotary joint and the fifth rotary joint is locked.

[0047] Further, the surgical execution arm telescopic module I 111, the surgical execution arm telescopic module II 112, the surgical execution arm telescopic module III 113 and the surgical execution arm telescopic module IV 114 are evenly distributed on the surgical execution arm platform 9 around the sixth rotation joint axis; the surgical execution arm telescopic module I 111, the surgical execution arm telescopic module II 112, the surgical execution arm telescopic module III 113 and the surgical execution arm telescopic module IV 114 each include a surgical execution arm telescopic track and a surgical execution arm drive box connecting seat; the surgical execution arm drive box connecting seat can slide linearly along the surgical execution arm telescopic track; the surgical execution arm drive box connecting seat provides a surgical execution arm quick mounting docking interface and a surgical execution arm action driving force output interface; the arrangement of the surgical execution arm drive box can make the connected surgical execution arm smoothly pass through the surgical execution arm guide tube.

[0048] Further, in the embodiment, the required surgical execution arms are mounted on the surgical execution arm drive box connecting seats of the surgical execution arm telescopic module I 111, the surgical execution arm telescopic module II 112 and the surgical execution arm telescopic module III 113 respectively.

[0049] Further, the surgical execution arm drive box connecting seat 11_2, the surgical execution arm drive box connecting seat 12_2 and the surgical execution arm drive box connecting seat 13_2 respectively make a feeding motion along the corresponding surgical execution arm telescopic track 11_1, the surgical execution arm telescopic track 12_1 and the surgical execution arm telescopic track 13_1, so that the mounted surgical execution arms pass through the surgical execution arm (end configuration endoscope, surgical forceps, surgical scissors) guide tube 10 to reach the lesion through the patient serial port.

[0050] Further, the actions of the surgical execution arms are driven to perform surgery.

[0051] Further, during the surgery, the posture adjusting arm I 6, the posture adjusting arm II 7 and the surgical execution arm platform 9 can be adjusted to obtain the best surgical field of view and surgical space.

[0052] The above examples are only typical embodiments of the present application, which are used to help explain and illustrate the technical features and benefits of the present application, and do not limit the present application.

[0053] Although the specific embodiments of the present application are described above in combination with the drawings, the present application is not limited to the scope of the embodiments, and those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A surgical execution arm suspension layout structure of a single-hole minimally invasive surgical robot, characterized by, The support device, horizontal position adjusting arm, posture adjusting arm, surgical execution arm platform, surgical execution arm guide tube and surgical execution arm telescopic module are included; the horizontal position adjusting arm is installed on the top platform at the top end of the column, the posture adjusting arm is installed on the horizontal position adjusting arm; the surgical execution arm platform and the surgical execution arm guide tube are installed on the posture adjusting arm, and the surgical execution arm telescopic module is installed on the surgical execution arm platform; the surgical execution arm telescopic module is multiple, each including a surgical execution arm telescopic track and a surgical execution arm drive box connecting seat, the surgical execution arm drive box connecting seat can slide linearly along the surgical execution arm telescopic track; the surgical execution arm drive box connecting seat is used for installing the surgical execution arm and providing driving force for the action of the surgical execution arm; The horizontal position adjusting arm includes horizontal position adjusting arm I and horizontal position adjusting arm II, which are connected horizontally through a second rotary joint; the other end of the horizontal position adjusting arm I is fixedly connected with the top platform; The posture adjusting arm includes posture adjusting arm I, posture adjusting arm II and posture adjusting arm III; the posture adjusting arm I is connected with the horizontal position adjusting arm II through a third rotary joint, and the third rotary joint axis and the second rotary joint axis are both in the vertical direction; The posture adjusting arm I is connected with the posture adjusting arm II through a circular arc track, the posture adjusting arm II moves along the track of the circular arc track on the posture adjusting arm I and presents a rotary arc line around a fourth rotary joint axis, and the fourth rotary joint axis and the third rotary joint axis perpendicularly intersect at a point; The posture adjusting arm III is connected with the posture adjusting arm II through a fifth rotary joint; the fifth rotary joint axis and the fourth rotary joint axis perpendicularly intersect at a point, and the intersection point of the fourth rotary joint axis and the third rotary joint axis coincides with the intersection point of the fifth rotary joint axis and the fourth rotary joint axis; The surgical execution arm platform is connected with the posture adjusting arm III through a sixth rotary joint; the sixth rotary joint axis and the fourth rotary joint axis perpendicularly intersect at a point, and the intersection point of the fourth rotary joint axis and the third rotary joint axis coincides with the intersection point of the sixth rotary joint axis and the fourth rotary joint axis.

2. A surgical manipulator arm suspension arrangement for a single port minimally invasive surgical robot as claimed in claim 1, wherein, The support device includes a base, a column and a top platform; the upper liftable end of the column is connected with the top platform and can make vertical lifting movement along a first movement joint axis, and the lower fixed end is fixedly arranged on the base; the top platform can make horizontal rotary movement relative to the column around a first rotary joint axis.

3. A surgical arm suspension arrangement for a single port minimally invasive surgical robot as claimed in claim 1, wherein, A light beam emitting device is installed at the third rotary joint of the posture adjusting arm I, the light beam coincides with the third rotary joint axis and vertically irradiates downward from the third rotary joint, and is used for preoperative arrangement and positioning of the surgical mechanical arm.

4. A surgical manipulator arm suspension arrangement for a single port minimally invasive surgical robot as claimed in claim 1, wherein, The surgical execution arm guide tube is installed at the end of the posture adjusting arm III, and the axis coincides with the sixth rotary joint axis.

5. A surgical manipulator arm suspension arrangement for a single port minimally invasive surgical robot as claimed in claim 1, wherein, Multiple surgical execution arm telescopic modules are evenly arranged around the sixth rotary joint axis on the surgical execution arm platform.

6. A surgical manipulator arm suspension arrangement for a single port minimally invasive surgical robot as claimed in claim 4, wherein, The surgical operation arm driving box connecting seat provides a quick mounting docking interface for the surgical operation arm and an action driving force output interface for the surgical operation arm.

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