Surgical robot

Abstract

The embodiments of the present application provide a surgical robot, which comprises a mechanical arm having a plurality of joints; an instrument driven by the mechanical arm; a sleeve, a plurality of joints linkage can make the sleeve rotate along a remote center of motion; a driving device coupled to the instrument and used for driving the joint assembly movement of the instrument; a control system coupled to the driving device, in response to the first control command, when the sleeve rotates along the remote center of motion, the first driving device drives the joint assembly movement to keep the position and / or posture of the end device unchanged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, and in particular to a surgical robot. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using a laparoscope, thoracoscope and other modern medical devices and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of less trauma, less pain, faster recovery, etc.

[0003] With the progress of science and technology, minimally invasive surgical robot technology has gradually matured and is widely used. Minimally invasive surgical robots usually include a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the operation of the doctor to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations. The instrument is connected with the driving device of the slave operating device for performing surgical operations. The distal end of the instrument includes an end effector for performing surgical operations and a joint assembly connected with the end effector which can move in multiple degrees of freedom.

[0004] The joint assemblies and end effectors of multiple instruments extend through the cannula to a remote location. When the position of the end of one instrument is adjusted by moving the cannula along the remote center of motion, there may be safety problems. The prior art does not have a good solution to this problem. SUMMARY

[0005] To solve the above problems, in a first aspect, the present application provides a surgical robot, which comprises:

[0006] a mechanical arm, the mechanical arm comprising a plurality of joints;

[0007] an instrument comprising a long shaft, a joint assembly and an end effector, the joint assembly being connected between the long shaft and the end effector;

[0008] a cannula comprising a passage, the joint assembly and the end effector passing through the passage;

[0009] a first driving device coupled to the instrument and used to drive the joint assembly to move;

[0010] a control system coupled to the plurality of joints, the control system being used to rotate the cannula along the remote center of motion by controlling the plurality of joints to move in linkage;

[0011] When the cannula rotates along the remote center of motion, the control system sends a first control command to the first driving device, and in response to the first control command, the first driving device drives the joint assembly to move to keep the position and / or attitude of the end effector unchanged.

[0012] In one embodiment, the joint assembly includes a parallel joint, the parallel joint being configured to move the end-effector in a lateral or longitudinal direction, and the first drive unit being configured to drive the parallel joint to maintain the position and / or orientation of the end-effector when the sleeve is rotated about the remote center of motion in response to the first control signal.

[0013] In one embodiment, the joint assembly further includes a wrist joint, the wrist joint being connected between the parallel joint and the end-effector, the wrist joint being configured to move the end-effector in a pitch or yaw direction, and the first drive unit being configured to drive the wrist joint to maintain the position and / or orientation of the end-effector when the sleeve is rotated about the remote center of motion in response to the first control signal.

[0014] In one embodiment, the first drive unit is configured to drive the end-effector to rotate about its axis to maintain the position and / or orientation of the end-effector when the sleeve is rotated about the remote center of motion in response to the first control signal.

[0015] In one embodiment, the surgical robot further includes a second drive unit, and the control system is configured to send a second control signal to the second drive unit to drive the long shaft to move linearly along the axis of the channel to maintain the position and / or orientation of the end-effector when the sleeve is rotated about the remote center of motion in response to the second control signal.

[0016] In one embodiment, the parallel joint includes:

[0017] a proximal joint, the proximal joint having a proximal end connected to a distal end of the long shaft

[0018] an intermediate segment, the distal end of the proximal joint being connected to a proximal end of the intermediate segment

[0019] a distal joint, the distal joint being connected between the end-effector and the intermediate segment

[0020] a first pair of cables, the first pair of cables having one end connected to the proximal joint or the long shaft and the other end connected to the distal joint

[0021] a second pair of cables, the second pair of cables including at least a first drive cable, the first drive cable actuating the distal joint, the distal joint actuating the proximal joint through the first pair of cables.

[0022] In one embodiment, the second pair of cables further includes a second drive cable, the first drive cable and the second drive cable crossing each other in the intermediate segment.

[0023] In one embodiment, the distal ends of the first driving cable and the second driving cable are connected to the distal joint or the proximal joint.

[0024] In a second aspect, the present application provides a surgical robot, comprising:

[0025] a mechanical arm comprising a plurality of joints;

[0026] a first instrument comprising a long shaft, a parallel joint and an end device, the parallel joint being connected between the long shaft and the end device;

[0027] a second instrument for acquiring environmental features;

[0028] the first instrument and the second instrument are connected to the mechanical arm, and the plurality of joints are linked to rotate the first instrument and the second instrument around a remote center of motion;

[0029] a first driving device coupled to the first instrument and configured to drive the parallel joint to move;

[0030] a control system configured to send a first control command to the first driving device, and in response to the first control command, the first driving device drives the parallel joint to move to keep the position and / or pose of the end device unchanged when the second instrument rotates around the remote center of motion.

[0031] In one embodiment, the surgical robot further comprises a second driving device, and the control system sends a second control command to the second driving device; in response to the second control command, the second driving unit drives the long shaft to move linearly along its axial direction to keep the position and / or pose of the end device unchanged when the second instrument rotates around the remote center of motion.

[0032] In one embodiment, the second instrument further comprises a parallel joint and a camera, and the parallel joint moves to make the camera move laterally or longitudinally.

[0033] The joint assembly of the present application can move simultaneously when the sleeve rotates around the remote center of motion, so as to keep the position and pose of the end device unchanged, thereby improving the safety of the surgery. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 a schematic diagram of a master console of a surgical robot according to an embodiment of the present application;

[0035] Figure 2 a schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of a surgical instrument according to one embodiment of this application;

[0037] Figure 4 This is a schematic diagram of a joint assembly of a device according to an embodiment of this application;

[0038] Figure 5 for Figure 4 The diagram shows the parallel joint translation state of the joint assembly.

[0039] Figure 6A This is a schematic diagram of a joint assembly, transmission device, and drive device according to another embodiment of this application;

[0040] Figure 6B for Figure 6A A schematic diagram of the joint assembly of the device shown after rotating 90 degrees around its axis.

[0041] Figure 7A A top view of joint segment 452 of parallel joint 400, showing the first and fourth drive cables being pulled in;

[0042] Figure 7B A schematic diagram of the parallel joint in a 400° longitudinal displacement state;

[0043] Figure 7C A top view of joint segment 452 of parallel joint 400, showing the first and third drive cables being pulled in;

[0044] Figure 7D Schematic diagram of the parallel joint 400 transverse displacement device;

[0045] Figure 8 This is a schematic diagram of the operating equipment and power unit of a surgical robot according to an embodiment of this application. Detailed Implementation

[0046] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0047] It should be understood that when an element such as a layer, region, or substrate is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements present. It will be understood that, when a device or element is referred to as being "coupled" to another device or element, mechanical or electrical contact between the devices or elements is not required. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. Other meanings of "and / or" and "comprising" will be apparent from the context.

[0048] As used herein, the terms "distal" and "proximal" are directional terms that are commonly used in the field of interventional medical devices, where "distal" refers to the end of the device that is further from the operator during a procedure, and "proximal" refers to the end of the device that is closer to the operator during a procedure. As used herein, "coupled" can be understood broadly as meaning that two or more objects are connected in some manner to any event, and can also be understood as meaning that there is a powered connection between the two objects.

[0049] The term "instrument" is used herein to describe a medical device that is intended to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, and which includes an end effector that can be a surgical tool for performing a surgical procedure, such as an electrocautery, a forceps, a stapler, a scissors, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some of the instruments used in embodiments of the present application further include articulating components (e.g., joint assemblies) that provide the end effector with one or more mechanical degrees of freedom that can be manipulated to move the position and orientation of the end effector relative to the shaft of the instrument. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing jaws. The instrument can also include a memory that can be updated by a surgical system, whereby the memory system can provide one-way or two-way communication between the instrument and one or more system elements.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0051] The surgical robot of one embodiment of the present application is as shown in Figure 1 and Figure 2 The surgical robot includes a master console 10 and a slave operating device 20, the master console 10 is located at the side of the operator, the master console 10 is used to send control commands to the slave operating device 20 according to the operation of the operator and display the image acquired by the slave operating device 20, the operator can observe the three-dimensional imaging in the patient's body provided by the image system through the master console 10, and the operator can control the slave operating device 10 to perform the related operation (for example, perform surgery or acquire the image in the patient's body) with an immersive feeling by observing the three-dimensional image in the patient's body. The master console 10 includes a display device, an armrest, a control signal processing system, an input device 11 and an observation device 12, wherein the display device is used to display the image acquired by the image system. The armrest is used to place the arm and / or hand of the operator, so that the operator can more comfortably operate the input device 11, and the observation device 12 is used to observe the image displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device 12 can also be omitted, at this time it can be directly observed. The operator controls the instrument movement of the slave operating device 10 by operating the input device 11, and the control signal processing system of the master console 10 processes the input signal of the input device 11 and then sends the control command to the slave operating device, and the slave operating device 20 responds to the control command of the master console 10 and performs the corresponding operation. In some embodiments, the control signal processing system can also be arranged in the slave operating device 20, for example, arranged in the base of the slave operating device 20.

[0052] The slave operating device 20 is located at the side of the patient for performing surgical operation, wherein the slave operating device 20 includes a base 25, a mechanical arm 21, a cannula 23, a driving device 22 and one or more instruments 30 detachably connected to the driving device 22, the mechanical arm 21 is connected to the base 25, the cannula 23 enters the human body through the incision on the human body, and the distal end of the one or more instruments 30 enters the human body through the cannula 23. The instrument 30 can be an electric cauter, a clamp, an anastomat, an ultrasonic knife or the like for performing surgical operation, or a camera (for example, an endoscope) for acquiring an image or other surgical instrument. In some embodiments, the cannula 23 can also be omitted, for example, in a surgical operation without the need for gas injection. In some embodiments, the base 25 can also be omitted, and the mechanical arm 21 of the slave operating device 20 can be mounted on the wall, ceiling or operating bed.

[0053] The robotic arm 21 has two modes of motion: a first mode of motion in which the robotic arm 21 moves to drag the remote center of motion 24, thereby changing the position of the remote center of motion 24 relative to the base 25; and a second mode of motion in which the robotic arm 21 moves to cause the sleeve 23 or the plurality of surgical instruments 30 to move about the remote center of motion 24, and the position of the remote center of motion 24 relative to the base 25 is fixed.

[0054] The robotic arm 21 includes a plurality of joints 211, 212, 213, 214, 215, wherein the joint 211 is a linear joint in the vertical direction, and the joints 212, 213, 214, 215 are rotational joints, the rotational axes of the joints 212, 213, 214 being perpendicular to the horizontal plane, and the rotational axis of the joint 215, in the second mode of motion, the plurality of joints 211, 212, 213, 214, 215 are linked to cause the sleeve 23 or the plurality of instruments to move about the remote center of motion 24, and the position of the remote center of motion 24 relative to the base 25 is fixed.

[0055] In some embodiments, the robotic arm can also be in another form, the robotic arm can define a remote center of motion by mechanical means, so that the sleeve or the instrument rotates around the remote center of motion, for example, the robotic arm includes a parallelogram linkage device, the instrument is detachably mounted on the distal end of the parallelogram linkage device, and the parallelogram linkage device can allow the instrument to move or have multiple mechanical degrees of freedom (for example, all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). The parallelogram linkage device is used to constrain the instrument to move near the remote center of motion on the surgical instrument that remains stationary relative to the patient.

[0056] The surgical robot also typically includes an imaging system portion (not shown) that enables an operator to view the surgical site from outside the patient's body. This imaging system typically includes a video image capture device (e.g., an instrument 30 having image acquisition capability) and one or more video display devices for displaying the captured images. Generally, the instrument 30 having image acquisition capability includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images within the patient's body. The one or more imaging sensors can be positioned at the distal end of the instrument 30 having image acquisition capability, and the signals produced by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on the video display device.

[0057] As Figure 3As shown, the instrument 30 includes an instrument box 31, a long shaft 32, a joint assembly 33, a plurality of cables and an end effector 34, the instrument 30 is detachably mounted on the power device 22, the power device 22 has a plurality of driving devices (not shown) therein, the instrument box 31 has a transmission device (not shown) therein, the transmission device includes a plurality of transmission units (e.g. winches), the transmission units are connected to the joint assembly 33 and the end effector 34 through the plurality of cables, the plurality of transmission units are respectively coupled to a plurality of driving units (e.g. motors) of the driving devices and are driven by the driving units. The driving units receive control instructions from a control system and drive the joint assembly 33 and the end effector 34 to move by driving the transmission units to move according to the control instructions, the control system can be arranged in the master console 10 or in the slave operating device 20. For example, the driving units drive the transmission units to rotate to wind / unwind the cables to control the joint assembly and the end effector to move. The end effector 34 can perform a plurality of Cartesian degrees of freedom actions through the joint assembly 33, such as translation (including lateral translation and / or longitudinal translation), pitch, yaw, etc. It can be understood that the translation and the pitch, the translation and the yaw can be independently moved or simultaneously moved. The end effector 34 is used to perform operations related to surgical operations, according to different requirements of surgical operations, the end effector 34 can be an electrocautery, a forceps, a stapler, a scissors, an ultrasonic knife, a camera, an imaging device, etc., wherein the camera or the imaging device is used to acquire images inside a human body.

[0058] In one embodiment of the present application, as shown in Figure 4 The joint assembly 33 of the instrument includes a parallel joint assembly 200 and a wrist joint 300, the proximal end of the parallel joint assembly 200 is connected to the distal end of the long shaft 32, the distal end of the parallel joint 200 is connected to the proximal end of the wrist joint 300, the distal end of the wrist joint 300 is connected to the end effector 34, and the wrist joint 300 is used to perform pitch and / or yaw movements.

[0059] Specifically, the parallel joint assembly 200 includes a proximal joint 210, an intermediate section 220, a distal joint 230 and a cable set, the proximal joint 210 includes a first proximal joint section 211 and a second proximal joint section 212 located at the proximal end and the distal end of the rotation axis 213 thereof, respectively, the first proximal joint section 211 is connected to the long shaft 32, the second proximal joint section 212 is connected to the intermediate section 220, the first proximal joint section 211 and the second proximal joint section 212 are pivotally connected, and the first proximal joint section 211 and the second proximal joint section 212 can relatively rotate around the rotation axis 213.

[0060] The distal joint 230 comprises a first distal joint segment 231 and a second distal joint segment 232 located proximally and distally to the rotation axis 233 of the distal joint 230 respectively, the first distal joint segment 231 is connected to the intermediate segment 220, the second distal joint segment 232 is connected to the wrist joint 300, the first distal joint segment 231 and the second distal joint segment 232 are pivotally connected and can rotate relative to each other around the rotation axis 233, the rotation axes 213, 233 are perpendicular to the paper.

[0061] The cable set comprises a first cable pair and a second cable pair, one end of the first cable pair is fixedly connected to the proximal end of the proximal joint 210 or the long shaft 32, the other end is connected to the second distal joint segment 232, one end of the second cable pair is connected to the transmission device in the instrument box 31, the other end is fixedly connected to the second distal joint segment 232. Among them, the first cable pair is a constant length cable, which means that the total length of the parallel joint 220 in the joint assembly 33 is basically unchanged when it moves, specifically, the first cable pair comprises a first constant length cable 131 and a second constant length cable 132, the first constant length cable 131 and the second constant length cable 132 are located on both sides of the central axis a of the intermediate segment 220. The second cable pair comprises a first driving cable 110 and a second driving cable 120, the first driving cable 110 and the second driving cable 120 cross in the intermediate segment 220, that is, the cable segment 111 of the first driving cable 110 and the cable segment 121 of the second driving cable 120 cross.

[0062] The distal end of the first driving cable 110 is fixed on the second distal joint segment 232 through the first fixed part 110a, and the proximal end is fixed on the transmission device in the instrument box 31, the cable segment 111 of the first driving cable 110 crosses the central axis a in the intermediate segment 220, and the cable segment 112 of the first driving cable 110 is located on the opposite side of the central axis a. Figure 4 When the parallel joint 200 is not translated, the first fixed part 110a and the cable segment 113 of the first driving cable 110 in the proximal joint 210 are located on the opposite side of the central axis a respectively.

[0063] The distal end of the first constant length cable 131 is fixed on the second distal joint segment 232 through the second fixed part 131a, and the proximal end is fixed on the first proximal joint segment 211 through the third fixed part 131b, when the parallel joint 200 is not translated, the first fixed part 110a and the second fixed part 131a are located on the same side of the central axis a of the intermediate segment 220, and the first fixed part 110a and the third fixed part 131b are also located on the same side of the central axis a. That is, as shown in Figure 4 The first fixed part 110a, the second fixed part 131a and the third fixed part 131b are all located on the left side of the central axis a of the intermediate segment 220.

[0064] The distal end of the second drive cable 120 is fixed to the second distal joint segment 232 by the fourth fixing part 120a. The cable segment 121 in the intermediate segment 220 crosses the central axis a. The proximal end of the second drive cable 120 is fixed to the transmission device inside the instrument box 31. The first fixing part 110a and the fourth fixing part 120a are located on opposite sides of the central axis a.

[0065] The distal and proximal ends of the second constant-length cable 132 are fixed to the second distal joint segment 232 and the first proximal joint segment 211 respectively by the fifth fixing part 132a and the sixth fixing part 132b. The fourth fixing part 120a, the fifth fixing part 132a, and the sixth fixing part 132b are located on the same side of the central axis a of the intermediate segment 220. When the parallel joint 200 moves, the total length of the first and second constant-length cables 131 and 132 in the joint assembly 33 remains basically unchanged, and their length in the intermediate segment 220 also remains basically unchanged. The movement of the parallel joint 200 is described in detail below.

[0066] like Figure 5 As shown, when the transmission mechanism of the instrument box 31 is actuated by the external first drive mechanism to translate the end effector 34 as desired, the transmission mechanism actuates (e.g., rotates) to retract the first drive cable 110 and release the second drive cable 120. Because the first drive cable 110 is retracted, the lengths of the cable segment 112 in the distal joint 230 and the cable segment 113 in the proximal joint 210 both shorten. The distal joint 210 is actuated by the first drive cable 110, causing the first distal joint segment 231 and the second distal joint segment 232 to rotate around the axis of rotation 233 as follows: The rotation is relative to each other: the left sides of the first distal joint segment 231 and the second distal joint 232 move closer to each other, thus shortening the length of the cable segment 131c of the first constant-length cable 131 in the distal joint 230; the right sides of the first and second distal joint segments 231 and 232 move further apart, so that the distal joint 230 is in the shape of "<", and because the second drive cable 120 is released, the length of the cable segment 122 of the second drive cable 120 in the distal joint 230 becomes longer, and the change in the length of the cable segment 122 is equal to the change in the length of the cable segment 112 of the first drive cable 110.

[0067] Due to the above movement of the distal joint 210, the distal second constant length cable 132 will be actuated by the distal joint 210, causing the cable segment 132c of the second constant length cable 132 in the first distal joint segment 230 to lengthen, and due to the length of the second constant length cable 132 in the joint assembly 33 being constant, the length of the cable segment 132d of the second constant length cable 132 in the proximal joint 210 will shorten, due to the length of the cable segment 132d being shortened, the proximal joint 210 will be actuated by the second constant length cable 132, causing the first proximal joint segment 211 and the second proximal joint segment 212 to rotate about the rotation axis 213 in such a way that the right sides of the first proximal joint segment 211 and the second proximal joint segment 212 are close to each other, and the left sides of the first proximal joint segment 211 and the second proximal joint segment 212 are far away from each other, the proximal joint 210 assumes a ">" shape, causing the length of the cable segment 131d of the first constant length cable 131 in the proximal joint 210 to lengthen, and the length of the cable segment 123 of the second drive cable 120 in the proximal joint 210 to lengthen, and the length of the cable segment 123 changes by an amount equal to the length of the cable segment 113 of the first drive cable 110.

[0068] Due to the opposite movement of the distal joint 230 and the proximal joint 210, the axis b of the end device 34 is transversely shifted relative to the axis c of the long shaft 32, and the end device 34 is transversely shifted (i.e. Figure 5 The end device 34 is shown transversely shifted to the right, and the intermediate segment 220 is deflected relative to the long shaft 32 during the transverse shift, i.e. the central axis a of the intermediate segment 220 forms a non-zero angle with the axis of the long shaft 32, and the axis b of the end device 34 and the axis c of the long shaft 32 remain parallel after the transverse shift of the parallel joint 200, and the parallel joint 200 does not change the pitch or yaw angle of the end device after the transverse shift of the end device 34. It can be understood that in some embodiments, the axis b of the end device 34 and the axis of the wrist joint 300 are coincident in a straight state of the joint assembly at a zero position.

[0069] If the transmission device moves in the opposite way, i.e. the first drive cable 110 is released and the second drive cable 120 is pulled, the parallel joint 200 will move in the opposite way as described above, i.e. the distal joint 230 rotates to assume a ">" shape, and the proximal joint 210 rotates to assume a "<" shape, causing the end device 34 to transversely shift to the left, and the transverse movement of the parallel joint 200 can provide a larger movement range for the end device 34.

[0070] Compared with the structure that the distal ends of the first and second driving cables 110 and 120 are fixed to the proximal joint to drive the parallel joint movement, in the embodiment, the distal ends of the first and second driving cables 110 and 120 are fixed to the distal joint 230, and when driving the parallel joint movement, the movement stroke of the first and second driving cables 110 and 120 is twice the stroke of the first and second driving cables 110 and 120 fixed to the proximal joint, so that half of the driving force can be used to drive the parallel joint movement. In addition, since the required driving force is smaller, the deformation of the first and second driving cables 110 and 120 is also reduced, and the parallel joint movement precision is improved.

[0071] In some embodiments, the first driving cable 110 and the first constant cable 131 are formed by the same cable, that is, the first driving cable 110 and the first constant cable 131 are a continuous cable, and the first fixing part 110a and the second fixing part 131a are a clamp with a diameter larger than the diameter of the cable. The clamp is crimped in the second distal joint segment 232, so that the distal ends of the first driving cable 100 and the first constant cable 131 are fixed to the second distal joint segment 232. Similarly, the second driving cable 120 and the second constant cable 132 can also be formed by one cable. It can be understood that the fixing method of the first driving cable pair and the first constant cable pair is not limited to the clamp, for example, welding and the like can be used.

[0072] In some embodiments, the parallel joint 200 can also be provided with only one driving cable fixed to the distal joint of the parallel joint, and the other driving cable is replaced by other means (for example, a spring is used for resetting), or the distal end of the other driving cable is fixed to the proximal joint of the parallel joint.

[0073] In some embodiments, for an instrument (for example, an endoscope with a camera as the end effector) that only needs to have the end effector translate, without the end effector pitch or yaw, the joint assembly 33 of the instrument can also only include the parallel joint 200, without the wrist joint 300.

[0074] In one embodiment, as shown in FIGS. 1 and 2, the joint assembly 33 includes a parallel joint 200 and a wrist joint 300. Figure 6A and 6B as shown in FIGS. 1 and 2, wherein Figure 6B is Figure 6AThe view after rotating the long axis 32 and joint assembly 43 90 degrees around the axis of the long axis. In this embodiment, the parallel joint 400 includes a proximal joint group, a distal joint group, an intermediate segment 420, and at least four cable pairs. The proximal joint group includes first and second proximal joints 410 and 440, and the distal joint group includes first and second distal joints 430 and 450. The first proximal joint 410 is connected between the proximal end of the intermediate segment 420 and the distal end of the second proximal joint 440. The second proximal joint 440 is connected between the proximal end of the first proximal joint 410 and the distal end of the long axis 32. The first distal joint 430 is connected between the distal end of the intermediate segment 420 and the proximal end of the second distal joint 450. The second distal joint 450 is connected between the proximal end of the wrist joint 300 and the distal end of the first distal joint 430.

[0075] The rotation axis 411 of the first proximal joint 410 and the rotation axis 441 of the second proximal joint are perpendicular to each other, and the rotation axis 431 of the first distal joint 430 and the rotation axis 451 of the second distal joint 450 are perpendicular to each other. The rotation axes 411 and 431 are perpendicular to the plane of the paper.

[0076] The four cable pairs of the parallel joint 400 include a second pair of constant-length cable pairs and two pairs of drive cable pairs. The first drive cable pair of the two drive cable pairs includes a first drive cable 310 and a second drive cable 320. The distal ends of the first and second drive cables 310 and 320 are fixed to the distal joint segment 453 of the second distal joint 450, and their proximal ends extend through the long shaft 32 and are connected to the first transmission unit 1101 of the transmission device in the instrument box 31. The first drive cable 310 and the second drive cable 320 cross in the intermediate segment 220.

[0077] The first constant length cable pair of the two pairs of constant length cables includes a first constant length cable 133 and a second constant length cable 134. The distal ends of the first and second constant length cables 133 and 134 are fixed to the distal joint segment 452 of the second distal joint 450, and their proximal ends are fixed to the proximal joint segment 442 of the second proximal joint 440. The first constant length cable 133 and the second constant length cable 134 are parallel in the intermediate segment 420.

[0078] like Figure 6B As shown, the second cable pair of the two pairs of drive cables includes a third drive cable 330 and a fourth drive cable 340. The distal ends of the third and fourth drive cables 330 and 340 are fixed to the distal joint segment 453 of the second distal joint 450, and their proximal ends extend through the long shaft 32 and are connected to the second transmission unit 1102 of the transmission device in the instrument box 31. The third drive cable 330 and the fourth drive cable 340 cross in the intermediate section 220.

[0079] The second pair of constant length cables of the two pairs of constant length cables includes a third constant length cable 135 and a fourth constant length cable 136, the distal ends of which are fixed to the distal joint segment 453 of the second distal joint 450, and the proximal ends of which are fixed to the proximal joint segment 442 of the second proximal joint 440, the third constant length cable 330 and the fourth constant length cable 340 being parallel in the intermediate segment 420. In other embodiments, the proximal ends of the four constant length cables 133, 134, 135, 136 can also be fixed to the distal end of the long shaft 32. To more clearly show the cables of the parallel joint 400, the third constant length cable 135 and the fourth constant length cable 136 are not shown in Figure 6A , nor are the portions of the third constant length cable 135 and the fourth constant length cable 136 in the joint assembly. In Figure 6B , the first constant length cable 133 and the second constant length cable 134 are not shown, nor are the first constant length cable 133 and the second constant length cable 134 in the joint assembly.

[0080] The following detailed description describes the longitudinal and lateral movement of the parallel joint 400, as shown in Figure 7A , and as shown in Figure 7A , the distal joint segment 453 of the second distal joint 450, as shown in Figure 7A , the cables 310, 320, 330, 340, 134, 135, 136 are not disposed near the rotational axis 431 of the first distal joint 430 and the rotational axis 451 of the second distal joint 450, and the cables 310, 320, 330, 340, 134, 135, 136 are approximately 45 degrees away from the rotational axes 431, 451, so as to leave installation space for the rotational axis components of the joints.

[0081] Referring again to Figure 6A , the first drive device 2000 is coupled to the transmission device 1000, and the first drive device 2000 receives the control signal sent by the control system. Specifically, the first drive unit 2101 of the first drive device 2000 is coupled to the first transmission unit 1101 of the transmission device 1000, and the second drive unit 2102 of the first drive device 2000 is coupled to the second transmission unit 1102. The first drive device 2000 can be coupled to the transmission device 1000 through an intermediate component (such as a sterile adapter), or can be directly coupled.

[0082] When the first drive unit 2000 responds to the first control signal sent by the control system, the first drive unit 2101 and the second drive unit 2102 both move in the same direction. For example, when both the first drive unit 2101 and the second drive unit 2102 rotate clockwise, the clockwise rotation of the first drive unit 2101 drives the first transmission unit 1101 to rotate clockwise, thereby pulling the first drive cable 310 and simultaneously releasing the second drive cable 320. The clockwise rotation of the second drive unit 2102 drives the second transmission unit to rotate clockwise, thereby releasing the third drive cable 330 and simultaneously pulling the fourth drive cable 340. Figure 7A As shown, F1 indicates pulling the first drive cable 310, and F2 indicates pulling the fourth drive cable 340. The combined force exerted by the first drive cable 310 and the fourth drive cable 340 on the distal joint segment 453 will cause the distal joint segment 453 of the second distal joint 450 to rotate counterclockwise around the rotation axis 451 (as shown). Figure 7B As shown, since the direction of the resultant force coincides with the direction of the rotation axis 431, the proximal and distal joint segments 433 and 432 of the first distal joint 430 do not rotate relative to the rotation axis 431.

[0083] Due to the rotation of the second distal joint 450, the four constant-length cables 133, 134, 135, and 136 will actuate the second proximal joint 440. The distal joint segment 443 of the second proximal joint 440 rotates clockwise relative to the rotation axis 441, while the proximal and distal joint segments 412 and 413 of the first proximal joint 410 do not rotate relative to the rotation axis 413, thereby achieving the effect of the parallel joint 400 as if from... Figure 6A The state shown in 6B is shifted longitudinally along the d direction to Figure 7B As shown, when both the first and second drive units rotate counterclockwise, the parallel joint 400 moves longitudinally in the direction opposite to d. After the longitudinal movement, the axis b of the end device 34 is parallel to the axis c of the major axis 32, and the central axis a of the intermediate section 420 is orthogonal to the first and second rotation axes 431 and 451.

[0084] When the first drive unit 2000 responds to the second control signal sent by the control system, the first drive unit 2101 and the second drive unit 2102 move in opposite directions. For example, when the first drive unit 2101 rotates clockwise and the second drive unit 2102 rotates counterclockwise, the first drive unit 2101 drives the first transmission unit 1101 to rotate clockwise, thereby pulling the first drive cable 310 and releasing the second drive cable 320. Conversely, the counterclockwise rotation of the second drive unit 2102 drives the second transmission unit 1102 to rotate counterclockwise, thereby pulling the third drive cable 330 and releasing the fourth drive cable 340. Figure 7CF1 represents the first driving cable 310, F3 represents the third driving cable 330, the resultant force of the first and third driving cables 310, 330 on the distal joint segment 453 of the second distal joint 450 causes the distal joint segment 433 of the first distal joint 430 to rotate counterclockwise around the rotation axis 431, and since the direction of the resultant force is the same as the direction of the rotation axis 451, the proximal and distal joint segments 452, 453 of the second distal joint 450 do not rotate relative to the rotation axis 451 thereof.

[0085] Due to the rotation of the first distal joint 430, the four constant-length cables 133, 134, 135, 136 will actuate the first proximal joint 410 to rotate the distal joint segment 413 of the first proximal joint 410 clockwise relative to the rotation axis 411 thereof, so that the parallel joint 400 is moved in the e direction from the state shown in FIG. 6B to the state shown in FIG. 6C. It can be understood that when the first driving unit 2101 rotates counterclockwise and the second driving unit 2102 rotates clockwise, the parallel joint 400 is moved in the direction opposite to the e direction. After the movement, the first rotation axis 431 is orthogonal to the central axis a of the intermediate segment 420, and the second rotation axis 451 is deflected relative to the central axis a of the intermediate segment 420, i.e., the second rotation axis 451 forms a non-zero angle with the central axis a. Figure 6A Figure 7D Due to the rotation of the first distal joint 430, the four constant-length cables 133, 134, 135, 136 will actuate the first proximal joint 410 to rotate the distal joint segment 413 of the first proximal joint 410 clockwise relative to the rotation axis 411 thereof, so that the parallel joint 400 is moved in the e direction from the state shown in FIG. 6B to the state shown in FIG. 6C. It can be understood that when the first driving unit 2101 rotates counterclockwise and the second driving unit 2102 rotates clockwise, the parallel joint 400 is moved in the direction opposite to the e direction. After the movement, the first rotation axis 431 is orthogonal to the central axis a of the intermediate segment 420, and the second rotation axis 451 is deflected relative to the central axis a of the intermediate segment 420, i.e., the second rotation axis 451 forms a non-zero angle with the central axis a.

[0086] Due to the perpendicularity of the rotation axes 441 and 411 and the perpendicularity of the rotation axes 451 and 431, the longitudinal movement and the lateral movement of the parallel joint 400 are perpendicular in space, i.e., the directions e and d are perpendicular in space. For example, the lateral movement is the movement of the parallel joint in the Y-axis direction of the Cartesian coordinate system, and the longitudinal movement is the movement in the Z-axis direction. The parallel joint 400 does not change the pitch or yaw movement of the end effector 400 during the longitudinal movement and the lateral movement, so that the parallel joint 400 can increase the movement range of the end effector 400.

[0087] It can be understood that in some embodiments, the instrument can not be provided with a transmission device, and each driving cable of the instrument is directly driven by the first driving device.

[0088] In some embodiments, the distal ends of the first driving cable pair 310, 320 are connected to the first distal joint 430, and the distal ends of the second driving cable pair 330, 340 are connected to the second distal joint 450.

[0089] In some embodiments, the distal ends of the first driving cable pair 310, 320 are connected to the second proximal joint segment 410 or the intermediate segment 420, and the distal ends of the second driving cable pair 330, 340 are connected to the second distal joint 450.

[0090] ​In some embodiments, the distal ends of the first and second drive cable pairs may also be connected to the second proximal joint segment 410 or the intermediate segment 420.

[0091] In one embodiment, such as Figure 8 As shown, the cannula 23 and power unit 22 of the manipulator 40 are fixedly connected. The joint assembly 501 and end effector 502 of the instrument 500 extend distally (e.g., to the lesion) through the channel 23a of the cannula 23. The joint assembly 501 includes a parallel joint and / or a wrist joint. The control system 2301 of the surgical robot is used to control the linkage of five joints 211, 212, 213, 214, 215 of the manipulator 40's robotic arm, causing the cannula 23 to rotate around the remote center of motion (RCM). In some other embodiments, the robotic arm of the manipulator 40 may also be a robotic arm of other configurations, such as a parallelogram configuration.

[0092] The power unit 22 includes a first drive unit 2201, 2202 and a second drive unit 2213, 2214. The control system 2301 is coupled to the first drive unit 2201, 2202 and the second drive unit 2213, 2214. The control system 2301 controls the movement of the joint assembly 501 and the end effector 502 of the device 500 through the first drive unit 2201. The control system 2301 controls the movement of the camera 601 of the device 600 through the first drive unit 2202.

[0093] The power unit 22 frame is equipped with slide rails 2211 and 2212. A first drive device 2201 and a second drive device 2202 are slidably mounted on slide rails 2211 and 2212, respectively. The control system 2301 controls the second drive devices 2213 and 2214 to drive the first drive devices 2201 and 2202 to move along the slide rails. Instruments 500 and 600 are detachably mounted on the first drive devices 2201 and 2202, respectively. When the first drive devices 2201 and 2202 slide on slide rails 2211 and 2202, they can drive instruments 500 and 600 to perform feed motion along the f direction. That is, the control system 2301 controls the feed motion of instruments 500 and 600 by controlling the second drive devices 2213 and 2214, causing the long axes 511 and 611 of the instruments to move linearly along the axial direction of the channel 23a of the sleeve 23. In this embodiment, instrument 500 is a clamp surgical instrument, and instrument 600 is an endoscope. In other embodiments, instruments 500 and 600 can be other types of instruments, such as ultrasonic scalpels, staplers, etc.

[0094] In response to the first control command of the control system 2301, the first driving device 2201 drives the parallel joint of the joint assembly 501 to move in a transverse direction and / or a longitudinal direction, so as to maintain the position and / or the posture of the end device 502 of the instrument 500 unchanged.

[0095] In one embodiment, in response to the first control command of the control system 2301, the first driving device 2201 drives the parallel joint of the joint assembly 501 to move in a transverse direction and / or a longitudinal direction, so as to maintain the position and / or the posture of the end device 502 of the instrument 500 unchanged.

[0096] In one embodiment, in response to the first control command of the control system 2301, the first driving device 2201 drives the parallel joint of the joint assembly 501 to move in a transverse direction and / or a longitudinal direction, so as to maintain the position and / or the posture of the end device 502 of the instrument 500 unchanged.

[0097] In one embodiment, in response to the second control command of the control system 2301, the first driving device 2201 drives the wrist joint of the joint assembly 501 to pitch and yaw, so as to maintain the position and / or the posture of the end device 502 of the instrument 500 unchanged.

[0098] In one embodiment, in response to the second control command of the control system 2301, the second driving device 2201 drives the long shaft 511 of the instrument 500 to move in an axial direction of the channel 23a of the sleeve 23, so as to maintain the position and / or the posture of the end device 502 of the instrument 500 unchanged.

[0099] The technical features of the above-described embodiments can be combined in any manner. For the sake of brevity, not all possible combinations are described, and it is to be understood that any combination of the technical features is within the scope of the present disclosure, as long as the combination does not result in a contradiction.

[0100] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A surgical robot, characterized by, The surgical robot comprises: a mechanical arm comprising a plurality of joints; an instrument comprising a long shaft, a joint assembly connected between the long shaft and an end effector, and the end effector; a cannula comprising a channel through which the joint assembly and the end effector pass; a first drive device coupled to the instrument and configured to drive the joint assembly to move; a control system coupled to the plurality of joints, the control system configured to control the plurality of joints to rotate the cannula about a remote center of motion; in response to the first control command, the first drive device drives the joint assembly to move to maintain a position and / or an orientation of the end effector unchanged while the cannula rotates about the remote center of motion; the joint assembly comprises a parallel joint, the parallel joint comprising: a proximal joint connected at a proximal end thereof to a distal end of the long shaft; an intermediate segment connected at a proximal end thereof to a distal end of the proximal joint; a distal joint connected between the end effector and the intermediate segment; a first pair of cables connected at one end thereof to the proximal joint or the long shaft and connected at another end thereof to the distal joint, the first pair of cables comprising at least a first constant length cable; a second pair of cables comprising at least a first drive cable, the first drive cable actuating the distal joint, the first drive cable and the first constant length cable being a single cable.

2. The surgical robot of claim 1, wherein, the parallel joint is configured to move the end effector in a lateral or a longitudinal direction; in response to the first control command, the first drive device drives the parallel joint to move to maintain the position and / or the orientation of the end effector unchanged while the cannula rotates about the remote center of motion.

3. The surgical robot of claim 2, wherein, the joint assembly further comprises a wrist joint connected between the parallel joint and the end effector, the wrist joint being configured to move the end effector in a pitch or a yaw direction; in response to the first control command, the first drive device drives the wrist joint to move to maintain the position and / or the orientation of the end effector unchanged while the cannula rotates about the remote center of motion.

4. The surgical robot of claim 3, wherein, in response to the first control command, the first drive device drives the end effector to rotate about an axis thereof to maintain the position and / or the orientation of the end effector unchanged while the cannula rotates about the remote center of motion.

5. The surgical robot of any of claims 2-4, wherein, the surgical robot further comprises a second drive device, in response to a second control command, the control system sends the second control command to the second drive device, in response to the second control command, the second drive device drives the long shaft to move linearly along an axis of the channel to maintain the position and / or the orientation of the end effector unchanged while the cannula rotates about the remote center of motion.

6. The surgical robot of claim 1, wherein, the second pair of cables further comprises a second drive cable, the first drive cable and the second drive cable crossing each other in the intermediate segment.

7. The surgical robot of claim 6, wherein, distal ends of the first drive cable and the second drive cable are connected to the distal joint.

8. A surgical robot, characterized by the surgical robot comprises: a mechanical arm comprising a plurality of joints; A first instrument comprising a long shaft, a parallel joint connected between the long shaft and an end-effector; A second instrument for acquiring environmental features; The first instrument and the second instrument are connected to the robotic arm, and the plurality of joints are linked to rotate the first instrument and the second instrument around a remote center of motion; A first driving device coupled to the first instrument and configured to drive the parallel joint to move; A control system configured to send a first control command to the first driving device, and in response to the first control command, the first driving device drives the parallel joint to move to keep the position and / or pose of the end-effector unchanged while the second instrument rotates around the remote center of motion; The parallel joint comprises: A proximal joint connected at a proximal end to a distal end of the long shaft; An intermediate segment connected at a proximal end to a distal end of the proximal joint; A distal joint connected between the end-effector and the intermediate segment; A first pair of cables connected at one end to the proximal joint or the long shaft and at the other end to the distal joint, the first pair of cables comprising at least a first constant-length cable; A second pair of cables comprising at least a first driving cable, the first driving cable actuating the distal joint, the first driving cable and the first constant-length cable being a single cable.

9. The surgical robot of claim 8, wherein, The surgical robot further comprises a second driving device, and the control system is configured to send a second control command to the second driving device; in response to the second control command, the second driving device drives the long shaft to move linearly along its axial direction to keep the position and / or pose of the end-effector unchanged while the second instrument rotates around the remote center of motion.

10. The surgical robot of claim 8, wherein, The second instrument further comprises a parallel joint and a camera, and the parallel joint moves to cause the camera to move laterally or longitudinally.

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